Technical field of the invention

The present invention relates to the field of robotic feeding systems.

Background of the invention

With regards to various types of productions, such as within the confectionary field, there is a need for a versatile feeding system that can easily be adjusted to specific demands for special packaging. As an example, many chocolates are today packaged by hand when a special production is needed due to difficulties with changing the form of packaging in a large production line.

Another example is the processing of workpieces. Compared to manual feeding of workpieces, the use of a robotic feeding system offers the advantage that the repetition accuracy, and frequently also the timing of the individual work steps, can be shortened. Robotic feeding systems are used for semiautomated and automated delivery of unprocessed workpieces processing machines, such as fully automated lathes or milling machines (CNC machines). A robotic feeding system is therefore an important element for realizing automation of the production and logistics processes.

Solutions for smaller series of workpieces focus on substituting the trays as easily as possible by integrating a mobile transport carriage with a single tray. The mobile transport carriage may then be removed from the system when the workpieces have been processed.

For productions with large series of workpieces, many robotic feeding systems comprise multiple drawer trays for holding the workpieces. The robot grapping or picking up the workpieces may then be configured to open and close the individual drawers. Object of the Invention

The objective of the present invention is to provide a versatile and compact robotic feeding system, which can be utilized for both small and large series of articles.

Description of the Invention

A first aspect of the present invention relates to a robotic feeding system comprising:

- a mobile transport carriage comprising an article holder; and

- a docking station adapted for receiving the transport carriage;

wherein the article holder comprises a base plate, and a supporting plate;

wherein the supporting plate is adapted for being moved up and down relative to the base plate.

In one or more embodiments, the mobile transport carriage further comprises:

- positioning means adapted for moving the supporting plate up and down relative to the base plate.

In one or more embodiments, the mobile transport carriage further comprises:

- positioning means adapted for moving the supporting plate up and down relative to the base plate; and configured to receive instructions from a robot to move the supporting plate up or down a predefined distance relative to the base plate. The robot is preferably a robot adapted for grapping the articles.

A second aspect of the present invention relates to a robotic feeding system comprising:

- a mobile transport carriage comprising an article holder; and

- a docking station adapted for receiving the transport carriage; wherein the article holder comprises a base plate, and a supporting plate;

wherein the supporting plate is adapted for being moved up and down relative to the base plate; wherein the docking station comprises positioning means adapted for moving the supporting plate relative to the base plate.

Thereby, the positioning means can lift the supporting plate relative to the base plate such that the top of the article, e.g. the top of the upper article in a stack of articles, is made accessible for the robot to more easily grip the article. In the situation where stacks of articles, such as workpieces, are positioned on the supporting plate, the positioning means can lift the supporting plate a predefined height corresponding to the height of an article, once an upper layer has been removed, thereby preparing the next layer of articles to be processed. The robot may be attached to the docking station, to a pedestal or the like, or to the processing machine.

In the present context, the term“article” is to be understood broadly covering a workpiece, a package, a box, a tray, a piece and the like.

The base plate should be interpreted broadly and may be configured as a plurality of brackets that together form a plate or surface for the supporting plate to move in relation to, and for the supporting plate to directly or indirectly rest on. Indirectly, when a spacer is attached to either the base plate or the supporting plate.

A spacer is preferably positioned between the base plate and the supporting plate to allow a free space for the positioning means to enter. The spacer may be of any suitable shape and may be integrated into, or attached to, the upper face of the base plate or to the lower face of the supporting means, i.e. to the faces of the plate defining the space between the plates. Alternatively, the spacer may be integrated into, or attached to, one or more of the elongated, preferably parallel, supporting means described below. The base plate and/or the supporting unit may also be configured such that a free space is formed therebetween when the two plates move into contact.

The base plate and/or the supporting plate may be slidably attached to the chassis of the mobile transport carriage. Alternatively, the base plate and/or the supporting plate may simply rest on or hang from the chassis. The chassis may be provided with recesses adapted for receiving a part of the base plate and/or the supporting plate. In one or more embodiments, a robot adapted for grapping and/or picking up the articles on the supporting plate is adapted for moving the supporting plate relative to the base plate.

The docking station may take any suitable shape. Preferably, the walls of the docking station define a space adapted for receiving at least a part of the article holder, and more preferably adapted for receiving the supporting plate and the base plate.

In one or more embodiments, the base plate comprises a plurality of elongated, preferably parallel, supporting means extending outwardly therefrom;

wherein the supporting plate comprises a plurality of perforations adapted for receiving the elongated supporting means, such that the supporting plate may be moved up and down said elongated supporting means; and

wherein said elongated supporting means are adapted for supporting one or more articles together with the supporting plate.

The number of elongated supporting means may be of any number, such as at least two, at least five, or at least 10, depending on the sizes of the articles being stacked on the supporting plate. The elongated supporting means may be releasably attached to the base plate.

The configuration of the article holder allows for length adjustment of the part of the elongated supporting means that extend above the supporting plate. Thereby, the positioning means can lift the supporting plate relative to the base plate such the top of the article, e.g. the top of the upper article in a stack of articles, is freed from the free end of the elongated supporting means. This allows the robot to more easily grip the article. In the situation where stacks of articles are positioned on the supporting plate, the positioning means can lift the supporting plate a predefined height corresponding to the height of an article, once an upper layer has been removed, thereby preparing the next layer of articles to be processed. The robot may be attached to the docking station, to a pedestal or the like, or to the processing machine.

The elongated supporting means may be configured as rods or plates. The plates may be shaped to receive round articles, such as having a curved cross- section.

In one or more embodiments, a group of said elongated supporting means are adapted for supporting one or more stacked articles together with the supporting plate.

In one or more embodiments, each group of said elongated supporting means comprises at least three elongated supporting means, such as at least four or five elongated supporting means.

In one or more embodiments, each elongated supporting means of an individual group is adapted to be repositioned relative to its group members to adjust the distance therebetween. This configuration allows for the user to adjust the distance in accordance with different sizes of articles. In this configuration, the plurality of perforations of the supporting plate are shaped to support such an adjustment, such as shaped as elongate recesses. In one or more embodiments, the supporting plate is separated into two or more sections, each section adapted for being independently moved up and down relative to the base plate.

In one or more embodiments, the supporting plate is separated into two or more sections, each section adapted for being independently moved up and down relative to the base plate; and wherein the docking station comprises means adapted for independently moving said two or more sections up and down relative to the base plate. The configuration allows for positioning unprocessed article/workpiece on a first section, and for the robot grapping or picking up the workpieces to position processed workpieces on a second section. Thereby, the first section gradually moves upwards as the unprocessed workpieces are removed therefrom, while the second section moves downwards as processed workpieces are stacked thereon.

In one or more embodiments, the supporting plate is separated into two or more sections, each section adapted for being independently moved up and down said elongated supporting means; and wherein the docking station comprises means adapted for independently moving said two or more sections up and down said elongated supporting means.

In one or more embodiments, the supporting plate is tilted relative to the base plate. This configuration allows for the articles to rest on the elongated supporting means.

In one or more embodiments, the supporting plate is adapted to be tilted relative to the base plate.

In one or more embodiments, the docking station further comprises a robot adapted for grapping and/or picking up the articles, preferably a robot arm. In one or more embodiments, the mobile transport carriage is configured for autonomous displacement under the control of a processing unit reacting to signals supplied by one or several sensors. Thereby, the mobile transport carriage may move without the need for a worker to push it.

In one or more embodiments, the positioning means is configured to receive instructions from a robot to move the supporting plate up or down a predefined distance relative to the base plate. Preferably, the robot is configured for picking up articles positioned on said supporting plate.

A third aspect of the present invention relates to a mobile transport carriage comprising an article holder; wherein the article holder comprises a base plate, and a supporting plate; wherein the supporting plate is adapted for being moved up and down relative to the base plate.

In one or more embodiments, the base plate comprises a plurality of elongated, preferably parallel, supporting means extending outwardly therefrom;

wherein the supporting plate comprises a plurality of perforations adapted for receiving the elongated supporting means, such that the supporting plate may be moved up and down said elongated supporting means; and

wherein said elongated supporting means are adapted for supporting one or more articles together with the supporting plate.

As used in the specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. Ranges may be expressed herein as from "about" or "approximately" one particular value and/or to "about" or "approximately" another particular value. When such a range is expressed, another embodiment includes from the one particular value and/or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent "about", it will be understood that the particular value forms another embodiment. It should be noted that embodiments and features described in the context of one of the aspects of the present invention also apply to the other aspects of the invention.

Brief description of the figures

Figure 1 is a front view of a robotic feeding system in accordance with various embodiments of the invention;

Figure 2 is a cross-sectional view A-A of Figure 1 ;

Figure 3 is a closeup view of a part of Figure 2;

Figure 4 is a perspective view of a base plate and a supporting plate in accordance with various embodiments of the invention; and

Figure 5 a perspective view of a base plate and a supporting plate in accordance with various embodiments of the invention.

References

10 Article

20 Workpiece

100 Robotic feeding system

200 Mobile transport carriage

210 Base plate

212 Elongated supporting means

220 Supporting plate

222 Perforation

300 Docking station 310 Positioning means

312 Threaded lever

314 Threaded anchoring unit

315 Support frame or panel

316 Motor

318 Bracket

Detailed Description of the Invention

Figure 1 is a front view of a robotic feeding system 100 in accordance with various embodiments of the invention. The robotic feeding system 100 comprises a mobile transport carriage 200, and a docking station 300 adapted for receiving the transport carriage. A cross-sectional view A-A of Figure 1 is shown in Figure 2. The article holder comprises a base plate 210, and a supporting plate 220 (better seen in Figures 3 and 4). The supporting plate 220 is adapted for being moved up and down relative to the base plate 210.

The docking station 300 comprises positioning means 310 adapted for moving the supporting plate 220 up and down relative to the base plate 210. In Figure 2, the positioning means 310 is shown comprising a motor 316, a threaded lever 312, a threaded anchoring unit 314, a support frame or panel 315, and a bracket 318 perpendicularly mounted on the upper part of the support frame or panel 315 and adapted to fit between the supporting plate 220 and the base plate 210. The support frame or panel 315 is adapted to stiffen the bracket 318, such that the positioning means 310 can lift the supporting plate 220 when heavy objects, such as stacks of articles 10, are positioned thereon.

A special embodiment of a supporting plate 220 and a base plate 210 is shown in Figure 4, where the two plates are positioned well apart from one another. The base plate 210 is here shown comprising a plurality of elongated parallel supporting means 212 extending outwardly therefrom. The elongated supporting means 212 are grouped in three, and each group is adapted for supporting one or more stacked workpieces 20 together with the supporting plate 220.

The supporting plate 220 comprises a plurality of perforations 222 adapted for receiving the elongated supporting means 212, such that the supporting plate

220 may be moved up and down said elongated supporting means 212. In Figure 5, the base plate 210 and supporting plate 220 are positioned in the lowest possible position, relative to one another. Here, the perforations 222 in the supporting plate 220 are easier to see. The shape of the perforations 222 allows for each elongated supporting means 212 of an individual group to be repositioned relative to its group members to adjust the distance therebetween. Such adjustment may be necessary to handle different sizes of work pieces.