Technical Field

The present disclosure generally relates to feeding systems for industrial devices. In particular, a base unit for a feeding system for feeding parts to an industrial device, a feeding system for feeding parts to an industrial device, an industrial system comprising an industrial device, and a method of handling a feeding system for feeding parts to an industrial device, are provided.

Background

In many automation cells, parts are delivered to or from an industrial device by some kind of feeding system. Such feeding system may be referred to as a tending system. Some feeding systems may for example comprise one or more conveyors for delivering parts to and/ or from the industrial device. The industrial device may for example be an industrial robot that can perform one or more handling operations on the parts.

The functionality of the feeding system is often important for the overall performance of the automation cell. The feeding system and the industrial device are typically assembled and fixed in place in the automation cell in a customized manner. Such automation cell is often difficult to reconfigure and typically utilizes many customized components.

US 2015343638 Ai discloses a robot module having a cell frame and a robot. The cell frame has a base plate at which the robot is mounted and has at least one cell wall connected to the base plate. The robot module is equipped with a control module for the robot. A feed module which is connectable to the robot module is also described. Summary

One object of the present disclosure is to provide an improved base unit for a feeding system for feeding parts to an industrial device.

A further object of the present disclosure is to provide a base unit for a feeding system for feeding parts to an industrial device, which base unit enables efficient installation.

A still further object of the present disclosure is to provide a base unit for a feeding system for feeding parts to an industrial device, which base unit enables efficient production of the base unit.

A still further object of the present disclosure is to provide a base unit for a feeding system for feeding parts to an industrial device, which base unit enables efficient modification of functionality.

A further object of the present disclosure is to provide a base unit for a feeding system for feeding parts to an industrial device, which base unit enables efficient maintenance.

A still further object of the present disclosure is to provide a base unit for a feeding system for feeding parts to an industrial device, which base unit solves several or all of the foregoing objects in combination.

A still further object of the present disclosure is to provide a feeding system for feeding parts to an industrial device, which feeding system solves one, several or all of the foregoing objects.

A still further object of the present disclosure is to provide an industrial system comprising an industrial device, which industrial system solves one, several or all of the foregoing objects.

A still further object of the present disclosure is to provide a method of handling a feeding system for feeding parts to an industrial device, which method solves one, several or all of the foregoing objects. According to a first aspect, there is provided a base unit for a feeding system for feeding parts to an industrial device, the base unit comprising a main body having a rigid engageable structure configured to mate with a rigid engaging structure of a modular feeding unit in a mating direction to align a position of the modular feeding unit in relation to the main body; an electric control system for controlling the modular feeding unit; and an electric base interface for electrically connecting the modular feeding unit to the control system.

Depending on a type of parts to be handled by the industrial device and/ or a type of handling operation to be performed on the parts by the industrial device, one modular feeding unit may be more suitable than another. The base unit enables an efficient exchange of a modular feeding unit docked to the base unit. When a first modular feeding unit is docked to the base unit, the base unit and the first modular feeding unit can form a first type of feeding system that can handle parts in a first manner.

After undocking of the first modular feeding unit and docking of a second modular feeding unit of different type to the base unit, the base unit and the second modular feeding unit can form a second type of feeding system that can handle parts in a second manner, different from the first manner. The second modular feeding unit may for example be configured to handle smaller batches of parts than the first modular feeding unit. By exchanging the modular feeding unit in this way, a user can easily change the performance of the feeding system, e.g. in view of the parts to be handled or in view of a handling operation of the industrial device, without necessarily modifying the base unit and without having to rebuild or replace an entire automation cell. Parts of the base unit specific for the industrial device can remain the same during exchange of the modular feeding unit. The base unit thereby enables an efficient adaptation to changed production conditions.

The docking of a modular feeding unit to the base unit may comprise moving the modular feeding unit in the mating direction such that the engaging structure mates with the engageable structure and electrically connecting the modular feeding unit to the control system via the electric base interface. The docking may thus be said to be of the plug and play type. Since the engageable structure enables the modular feeding unit to be unequivocally positioned in relation to the base unit, any subsequent installation steps and commissioning becomes easier. For example, any fasteners for fixing the modular feeding unit to the base unit will be easier to fasten, the electric base interface can be more easily connected to the modular feeding unit, and the modular feeding unit will immediately be positioned correctly with respect to the industrial device.

Conversely, the undocking of a modular feeding unit from the base unit may comprise disconnecting the electric base interface such that the modular feeding unit is electrically disconnected from the control system and moving the modular feeding unit away from the base unit in a separating direction, opposite to the mating direction. The user can thereby very easily replace one modular feeding unit with another modular feeding unit to change the functionality of the feeding system, for example to upgrade the feeding system, without having to disassemble the entire base unit.

The ability of the base unit to operate with different modular feeding units also makes building of an automation cell easier. For example, a plurality of automation cells with common functionality comprising an industrial device and a base unit may initially be prepared. By adding unique modular feeding units to the respective base units, each automation cell is provided with unique functionality.

The base unit further enables separate production and testing of the base unit and the modular feeding unit. The modular feeding unit may for example be docked to base unit first at a final installation site after having been tested at a remote location. This is of great value since a plurality of base units and a plurality of modular feeding units may be produced in advance. Upon receiving an order, the base unit and a particular modular feeding unit can be rapidly sent to a user location for installation. The base unit also enables users to start using a feeding system with a relatively simple modular feeding unit to save costs. Should the user want a more advanced functionality, the feeding system can easily be upgraded by exchanging the modular feeding unit.

Moreover, by undocking the modular feeding unit from the base unit, a service operation can be performed on the modular feeding unit remote from the base unit. When the modular feeding unit is separated from the base unit, a technician can have better access to the components of the modular feeding unit, in comparison with crawling into the base unit.

During the service operation, a further modular feeding unit can be docked to the base unit. In this way, downtime of the feeding system is reduced. The base unit therefore enables greatly simplified maintenance and repair.

The engageable structure may for example comprise one or more holes and/or one or more pins. Optionally, the docked modular feeding unit may be secured to the base unit by one mor more fasteners, such as screws.

The main body may comprise a housing. The mating direction may be horizontal.

The control system may comprise at least one data processing device and at least one memory having at least one computer program stored thereon. The at least one computer program may comprise program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform, or command various steps associated with the feeding system. The control system may for example be configured to control operations of the modular feeding unit. A robot controller for controlling an industrial robot may be implemented in the control system. Alternatively, or in addition, an industrial PC (personal computer) and/or a PLC (programmable logic control) may be implemented in the control system. The base unit may further comprise a pneumatic base interface for pneumatically connecting the modular feeding unit to the base unit. Alternatively, or in addition, the base unit may further comprise a hydraulic base interface for hydraulically connecting the modular feeding unit to the base unit.

The engageable structure may extend in parallel with the mating direction.

The main body may be configured to be placed on a floor. In this case, the engageable structure may be configured to mate with the engaging structure of the modular feeding unit traveling on the floor. The main body may be fixed to the floor. The main body may remain fixed to the floor during exchange of modular feeding units.

The main body may comprise an opening for receiving the modular feeding unit. In this case, the modular feeding unit can be moved into the opening in the mating direction such that the engaging structure engages the engageable structure in a single movement. When the modular feeding unit is received in the opening, the modular feeding unit can be electrically connected to the control system via the electric base interface.

The main body may comprise a first side and a second side opposite to the first side. The opening may extend from the first side to the second side. The first side may face away from the industrial device. The second side may face towards the industrial device. The opening may be a through opening, e.g. extending horizontally through the main body.

The opening may be open downwards towards the floor. That is, when the base unit is positioned on the floor, the floor may delimit the opening.

The main body may comprise two legs. In this case, the opening may be positioned between the legs.

The electric base interface may comprise an electric base connector configured to electrically connect the modular feeding unit to the control system when the engageable structure is mated with the engaging structure. The electric base connector may for example be positioned in the opening.

The control system may be provided in the main body. The control system may for example be provided above the opening.

According to a second aspect, there is provided a feeding system for feeding parts to an industrial device, the feeding system comprising a base unit according to the first aspect and at least one modular feeding unit comprising the engaging structure and being configured to be docked to the base unit for feeding parts to the industrial device. The feeding system may be a machine tending system, such as a robot tending system for tending an industrial robot. In case the base unit comprises the opening, the modular feeding unit may be configured to feed parts through the opening when docked to the base unit. The engaging structure may for example comprise one or more holes and/or one or more pins.

The modular feeding unit may comprise an electric feeding interface for electric connection to the electric base interface. The electric feeding interface may comprise an electric feeding connector. The electric feeding connector may be connected to the electric base connector. The electric base connector may be a plug and the electric feeding connector may be a receptacle for receiving the plug, or vice versa. Each of the electric base connector and the electric feeding connector may be a heavy duty connector having a standardized interface. The base unit may be configured to provide control signals and electric power to the modular feeding unit through the electric base connector and the electric feeding connector.

The modular feeding unit may comprise a pneumatic feeding interface for pneumatic connection to the pneumatic base interface. Alternatively, or in addition, the modular feeding unit may comprise a hydraulic feeding interface for hydraulic connection to the hydraulic base interface.

The engaging structure may be complementary to the engageable structure. The at least one modular feeding unit may comprise wheels for traveling on a floor. The modular feeding unit can for example be manually pushed or pulled over the base surface. One or more of the wheels maybe steerable.

The at least one modular feeding unit may comprise a movable component and a mechanical actuator, such as a motor, for driving the movable component. The mechanical actuator may be electrically powered from the base unit via the electric base interface. The movable component may for example be a conveyor, a rotary table, or a vibration table.

The at least one modular feeding unit may comprise a conveyor for the parts, a table for the parts, a tray for the parts and/or a container for the parts.

One modular feeding unit may for example comprise two movable trays. When the modular feeding unit is docked to the base unit, a first tray may be positioned close to an industrial robot such that the industrial robot can pick parts therefrom and/ or place parts thereon. A second tray may be positioned further away from the industrial robot such that parts can be loaded to, or unloaded from, the second tray. The first and second tray may then switch positions. The feeding system may comprise similar modular feeding units comprising two containers.

A further example of a modular feeding unit may comprise two conveyors. An input conveyor may transport parts towards the industrial device, e.g. from the first side to the second side. An output conveyor may transport parts away from the industrial device, e.g. from the second side to the first side.

Further examples of modular feeding units of the feeding system comprise a pallet and an automated guided vehicle, AGV.

The at least one modular feeding unit may comprise a plurality of modular feeding units of different types. In this case, each modular feeding unit may comprise a carrier of the same type. Each carrier may be configured to support the respective modular feeding unit on a floor. The engaging structure may be provided on the carrier. Each modular feeding unit may comprise a part (such as a conveyor belt, a table, a tray or a container) that is movable relative to the carrier. Each carrier may comprise, or be constituted by, a sledge.

The electric feeding interface may be provided on the carrier. Each modular feeding unit may comprise an electric feeding interface and/or an engaging structure that is positioned in the same position(s) relative to the carrier. In this way, replacement of a modular feeding unit is further facilitated.

The entire modular feeding unit may be supported by the carrier. This enables production and testing of the modular feeding unit independently from the rest of the feeding system. The modular feeding unit can be completely pre-assembled and tested at a remote location prior to docking with the base unit.

According to a third aspect, there is provided an industrial system comprising a base unit according to the first aspect or a feeding system according to the second aspect, and the industrial device. Throughout the present disclosure, the industrial device may be an industrial robot.

According to a fourth aspect, there is provided a method of handling a feeding system for feeding parts to an industrial device, the method comprising providing a modular feeding unit configured to feed parts and having a rigid engaging structure; providing a base unit comprising a main body having a rigid engageable structure configured to mate with the engaging structure, an electric control system for controlling the modular feeding unit, and an electric base interface; and moving the modular feeding unit in a mating direction such that the engaging structure mates with the engageable structure and a position of the modular feeding unit becomes aligned in relation to the main body; and electrically connecting the modular feeding unit to the control system through the electric base interface. The base unit and the modular feeding unit may be of any type as described herein. The method may further comprise electrically testing one or both of the modular feeding unit and the base unit independently prior to engagement between the engaging structure and the engageable structure.

Brief Description of the Drawings

Further details, advantages and aspects of the present disclosure will become apparent from the following description taken in conjunction with the drawings, wherein:

Fig. 1: schematically represents a front perspective view of an industrial system;

Fig. 2: schematically represents a front perspective view of a base unit;

Fig. 3a: schematically represents a front perspective view of a modular feeding unit;

Fig. 3b: schematically represents a rear perspective view of the modular feeding unit in Fig. 3a;

Fig. 4: schematically represents a feeding system comprising the base unit and the modular feeding unit in Figs. 3a and 3b;

Fig. 5: schematically represents the feeding system in Fig. 4 when the modular feeding unit has docked to the base unit.

Detailed Description

In the following, a base unit for a feeding system for feeding parts to an industrial device, a feeding system for feeding parts to an industrial device, an industrial system comprising an industrial device, and a method of handling a feeding system for feeding parts to an industrial device, will be described. The same or similar reference numerals will be used to denote the same or similar structural features.

Fig. 1 schematically represents a front perspective view of an industrial system 10. The industrial system 10 comprises a feeding system 12 and an industrial robot 14. The feeding system 12 comprises a base unit 16 and a plurality of different modular feeding units i8a-i8d. Each of the modular feeding units i8a-i8d can be selectively docked to the base unit 16. Fig. i further shows a horizontal floor 20.

The industrial robot 14 is one example of an industrial device according to the present disclosure. The industrial robot 14 is here placed on a stand 22 which in turn is placed on the floor 20. The industrial robot 14 comprises a manipulator 24, for example movable in six or seven axes.

The base unit 16 comprises a housing 26. The housing 26 is one example of a main body according to the present disclosure. The housing 26 can be placed directly on the floor 20 and fixed thereto, e.g. by means of one or more screws 28 or other fasteners.

The housing 26 comprises a first side 30 and a second side 32, opposite to the first side 30. In this specific example, the second side 32 faces towards the industrial robot 14. The housing 26 of this example further comprises an opening 34. The opening 34 is here a through opening extending from the first side 30 to the second side 32. In this example, the opening 34 is open downwards towards the floor 20 such that the floor 20 delimits the opening 34-

The base unit 16 further comprises a control system 36. As illustrated in Fig. 1, the control system 36 of this example comprises a data processing device 38 and a memory 40. The memory 40 has a computer program stored thereon. The computer program comprises program code which, when executed by the data processing device 38, causes the data processing device 38 to perform, or command performance of, various steps associated with delivering parts 42 by the feeding system 12. The control system 36 may for example be configured to control operations of the modular feeding unit 18a- i8d currently docked to the base unit 16. The control system 36 may also be configured to control the industrial robot 14. As shown in Fig. 1, the control system 36 is here provided in the housing 26 above the opening 34.

Each modular feeding unit i8a-i8d comprises a carrier 44. The carriers 44 are configured to support the respective modular feeding unit i8a-i8d on the floor 20. This enables production and testing of the modular feeding unit i8a-i8d independently from the rest of the feeding system 12. As shown in Fig. 1, each carrier 44 has the same design. Each carrier 44 here comprises wheels 46 such that the carrier 44 can travel over the floor 20, for example by being pushed or pulled by a human.

In this specific example, the feeding system 12 comprises a first modular feeding unit 18a comprising a first tray 48a and a second tray 48b each for carrying parts 42.

The feeding system 12 of this example further comprises a second modular feeding unit 18b comprising an input conveyor belt sobi and an output conveyor belt 5ob2. When the second modular feeding unit 18b is docked to the base unit 16, the input conveyor belt sobi can deliver parts 42 through the opening 34 towards the industrial robot 14, and the output conveyor belt 50b2 can deliver parts 42 through the opening 34 away from the industrial robot 14.

The feeding system 12 of this example further comprises a third modular feeding unit 18c comprising a single conveyor belt 50c, and a fourth modular feeding unit i8d comprising a roller conveyor sod.

The modular feeding units i8a-i8d in Fig. 1 are merely some of many examples. Additional examples of modular feeding units may comprise containers for the parts 42, a vibration table for the parts 42 or a rotary table for the parts 42. Once a modular feeding unit i8a-i8d is docked to the base unit 16, the parts 42 can be fed by the feeding system 12 to the industrial robot 14, for example through the opening 34 from the first side 30 to the second side 32 of the base unit 16.

The industrial system 10 may for example be an automation cell. The automation cell may comprise additional components, such as fences and other protection equipment, and accessories for pre-treatment and/ or after- treatment of the parts 42. The industrial system 10 may also comprise a machine tool (not shown) for machining the parts 42. In this case, the parts 42 may be fed from the base unit 16 to the machine tool by the industrial robot 14.

Fig. 2 schematically represents a front perspective view of the base unit 16. As shown, the base unit 16 comprises a first leg 52 and a second leg 54. The opening 34 is positioned between the legs 52 and 54.

The base unit 16 further comprises an electric base interface 56. The electric base interface 56 comprises an electric base connector 58, here exemplified as a plug. The electric base connector 58 is used to electrically connect the control system 36 to the docked modular feeding unit i8a-i8d. As shown, the electric base connector 58 of this example is positioned in the opening 34.

The base unit 16 further comprises two hooks 60a (only one is visible in Fig. 2). The hooks 60a are positioned in a respective of the legs 52 and 54 adjacent to the first side 30. The hooks 60a are positioned opposite to each other across the opening 34.

The base unit 16 further comprises two holes 60b (only one is visible in Fig. 2). The holes 60b are positioned adjacent to the second side of the base unit 16. More specifically, the holes 60b are here positioned such that the second side 32 is between the first side 30 and the holes 60b.

The hooks 60a and the holes 60b constitute examples of rigid engageable structures according to the present disclosure. The hooks 60a and the holes 60b are used to align one of the modular feeding units i8a-i8d with respect to the base unit 16. The hooks 60a and the holes 60b are examples of female engageable structures arranged to be engaged by corresponding male engaging structures, such as pins. The engageable structure may alternatively be male for mating with a corresponding female engaging structure. As a further alternative, the engageable structure maybe both male and female for mating with a corresponding male and female engaging structure.

Fig. 3a schematically represents a front perspective view of the modular feeding unit 18b and Fig. 3b schematically represents a rear perspective view of the modular feeding unit 18b. The following description of the modular feeding unit 18b in Figs. 3a and 3b also applies for the modular feeding units 18a, 18c and i8d. As shown in Fig. 3a, the carrier 44 comprises an electric feeding interface 62. The electric feeding interface 62 comprises an electric feeding connector 64, here exemplified as a receptacle for receiving the electric base connector 58 exemplified as a plug. The electric feeding connector 64 is used to electrically connect the modular feeding unit 18b to the electric base interface 56.

When the modular feeding unit 18b has docked to the base unit 16, control signals maybe sent from the base unit 16 to the electric feeding interface 62 and electric power may be supplied therethrough. Conversely, the modular feeding unit 18b may send various sensor signals, such as positional information and/or weight information associated with the parts 42, to the electric base interface 56.

Each modular feeding unit i8a-i8d may comprise a movable component and a mechanical actuator, such as a motor, for driving the movable component. Each such mechanical actuator maybe electrically powered from the base unit 16, and may receive control signals from the control system 36, via the electric base interface 56.

The modular feeding unit 18b can be completely pre-assembled and tested at a remote location prior to docking with the base unit 16. The testing may comprise electrically connecting a computer to the electric feeding interface 62.

With collective reference to Figs. 3a and 3b, the modular feeding unit 18b further comprises two rear pins 66a at a rear end of the carrier 44. The two rear pins 66a are positioned at opposite sides of the carrier 44. The modular feeding unit 18b further comprises two front pins 66b at a front end of the carrier 44. The two front pins 66b are positioned at opposite sides of the carrier 44. The front and rear pins 66a and 66b all face in a forward direction of the modular feeding unit 18b. The rear pins 66a are complementary to the hooks 6oa and are configured to mate with the hooks 6oa. The front pins 66b are complementary to the holes 6ob and are configured to mate with the holes 6ob. The front and rear pins 66a and 66b are examples of a rigid engaging structure according to the present disclosure.

When the modular feeding unit 18b is docked to the base unit 16 such that the pins 66a and 66b mate with the hooks 6oa and the holes 6ob, a position of the modular feeding unit 18b becomes aligned in relation to the housing 26.

As shown in Figs. 3a and 3b, the electric feeding interface 62 and the pins 66a and 66b are all provided on the carrier 44. The positional relationships of these components with respect to the carrier 44 are the same for all carriers 44 of the modular feeding units i8a-i8d. In this way, replacement of a modular feeding unit i8a-i8d is further facilitated.

Fig. 4 schematically represents the feeding system 12 comprising the base unit 16 and the modular feeding unit 18b. Prior to docking the modular feeding unit 18b to the base unit 16, one or both of the modular feeding unit 18b and the base unit 16 can be electrically tested independently.

In order to dock the modular feeding unit 18b to the base unit 16, the modular feeding unit 18b travels on the floor 20 and into the opening 34 in a mating direction 68, here exemplified as a horizontal direction. Fig. 4 further shows a separating direction 70 opposite to the mating direction 68. As can be gathered from Fig. 4, each of the hooks 60a, the holes 60b and the pins 66a and 66b extend in the mating direction 68.

The base unit 16 receives the modular feeding unit 18b in the opening 34 while the base unit 16 remains fixed to the floor 20. The modular feeding unit 18b may be pushed into the opening 34 by a human or may comprise one or more drive motors for driving on its own.

Fig. 5 schematically represents the feeding system 12. The modular feeding unit 18b has been docked to the base unit 16. The modular feeding unit 18b has moved horizontally into the opening 34 such that the pins 66a mate with the respective hooks 60a at the same time as the pins 66b mate with the respective holes 60b. In this way, the modular feeding unit 18b is unequivocally positioned with respect to the base unit 16. The carrier 44 may then optionally be secured to the housing 26 by means of fasteners.

The electric base connector 58 has been connected to the electric feeding connector 64. This may be done when the modular feeding unit 18b is fully received in the opening 34 or slightly before. The base unit 16 is thereby electrically connected to the modular feeding unit 18b.

Parts 42 can now be fed by the input conveyor belt sobi from the first side 30, through the opening 34 and to the second side 32, and by the output conveyor belt 5ob2 from the second side 32, through the opening 34 and to the first side 30.

In order to undock the modular feeding unit 18b from the base unit 16, the above steps can be performed in reverse and the modular feeding unit 18b can be retracted out from the base unit 16 in the separating direction 70. Due to the ability to easily change the modular feeding unit i8a-i8d to be used with the base unit 16, the user is provided with flexibility to easily upgrade or change the feeding system 12 without having to modify the entire base unit 16 or the entire automation cell. This is very valuable since as manufacturing processes evolve, new manufacturing concepts will appear that will need new functionalities of the feeding system 12.

While the present disclosure has been described with reference to exemplary embodiments, it will be appreciated that the present invention is not limited to what has been described above. For example, it will be appreciated that the dimensions of the components may be varied as needed. Accordingly, it is intended that the present invention may be limited only by the scope of the claims appended hereto.