Patent Application
20230311343
The present disclosure relates to a picking device for picking and handling workpieces of a predetermined type from a worktable surface. The picking device may be of the vacuum picking device type.
Picking devices for automatically transporting workpieces from one workstation and setting them of in a second work station are known in the art. The collector head of such devices, configured for interacting with the workpieces are may be very complex mechanisms that are expensive and require very high precision to control the collector arm (robot arm). An exemplary device is disclosed in the European patent application EP 3 064 325 A1 This device has collector head having a contoured depression, shaped for the workpiece to be picked/grabbed.
U.S. Pat. No. 10,357,883 B1 discloses a vacuum picking robot for picking and handling items, having an end effector in the form of a cylindrical pliable bladder, wherein the front surface of the pliable bladder is deformable to provide an air tight fit with large items, such as American footballs.
It is therefore an object of the disclosure to increase the variety of options, and to provide a simple, efficient way of providing ways of picking workpieces from a worktable and subsequently handling the workpieces.
In a first aspect of the disclosure, this is achieved by a picking device for picking workpieces having a predetermined shape from a worktable surface, the picking device comprising
The contour of the depression of the front piece is configured such that it is slightly smaller than the matching portion of workpiece. Thereby, when the collector head is pressed over the workpiece, the sidewalls of the depression deforms to receive the mentioned surfaces of the workpiece in press fit between the sidewalls of the depression.
Thus the contour of the depression is dimensioned to receive at least the portion of the shape of the workpiece in a press fit.
This allows the workpiece to be lifted of the worktable and transported to a different location by the picking arm, e.g. to a holder for further treatment.
The workpiece received and held between the sidewalls of the depression, may be released from the sidewalls of the depression by a suitable release mechanism, e.g. an ejector pin. In embodiments, however the workpiece received and held between the sidewalls of the depression, may be released from the sidewalls of the depression by a blow of pressurized gas through a substitute Specification CLEAN channel though the collector head, which channel terminates through the bottom (bottom surface) of the front piece.
The resilient, pliable material of the body of the body of the front piece of the collector head is preferably plastic in the sense that it returns to its original shape after a workpiece held/squeezed between the sidewalls depression has been released therefrom.
The bottom (or bottom surface) preferably forms an integrated part of the body of the front piece of the collector head, and is formed in the material of the front piece of the collector head
Thereby, a very flexible picking device is achieved, which may be very easily be adapted to pick/grab various types and shapes of workpieces. The front pieces are very cost efficient and easy to manufacture.
Further, the front piece being formed in a soft/resilient material and covering all portions of the distal end of the collector head protects the workpieces, the worktable, jigs and other parts of the picking device from unintended impacts.
In an embodiment the sidewalls of the front piece has a portion which extends perpendicularly relative to the distalmost surface.
In a further embodiment, a depth of the depression from a rim between the distalmost surface and the sidewall of the depression (60) to a bottom surface (65) of the depression (60) at least corresponds to one-half of a thickness of the workpiece (100) at a location between said two surfaces (161, 162) of the workpiece facing away from each other.
Preferably the bottom surface of the depression is distal relative to the proximal surface of the front piece (when the front piece is attached to the base).
In some embodiments a distance between the sidewalls of the depression corresponds to a distance between surfaces of the workpiece, which surfaces of the workpiece face away from each other. In this case the material for the front piece may be chosen such that a friction between the workpiece and the sidewalls of the depression will cause the workpiece to remain held between the sidewalls when the front piece has been pressed over the workpiece resting on the worktable and being lifted therefrom.
Alternatively, the distance between the sidewalls of the depression is smaller than the distance between said two surfaces of the workpiece facing away from each other, such that when the depression is pressed over the workpiece on the worktable, the sidewalls of the depression squeezes on said surfaces of the workpiece
In an embodiment the sidewalls of the depression are mutually facing, and a common longitudinal axis is defined along the mutually facing sidewalls, and the depression has a first end and a second end in the direction of the longitudinal axis. In a further embodiment hereof, a support surface is provided in extension of the first and/or second end of the depression in the direction of the longitudinal axis, and wherein said support surface extends in a plane parallel to said bottom surface of the depression.
Thereby, a relevant portions of a workpiece grabbed by the collector head may be backed or supported when setting them onto holders of a jig.
In a further embodiment hereof, the support surface is contoured to correspond to a contour of a portion of the workpiece to be picked.
In a further embodiment the resilient, pliable material of the front piece is a silicone.
In a further embodiment, the collector head comprises an intermediary part and wherein a first end of the intermediary part is connected to the distal end of the base and wherein a second end of the intermediary part connects to the proximal end of the front piece.
In further embodiments, the collector head comprises
In cases where the collector head comprises an intermediary part, a connection channel (vacuum channel) is formed through the intermediary body to connect the vacuum port formed through the base with the suction inlet formed through the bottom surface of the depression.
This allows a vacuum to be applied to suck a workpiece into the depression and to hold it in place. The combination of providing a squeeze fit (pinch fit)—due to the resilient, pliable material—and a vacuum allows for reducing the demand for vacuum source in a vacuum picking device. Further, the combination allows for a more stable hold on the workpiece when picking it from the worktable.
In further embodiments, a vacuum distributing basin is formed in the bottom surface of the depression and into the body of the front piece, and the suction inlet is formed in the vacuum distributing basin.
In further embodiments, the collector head comprises an intermediary part formed between the base and the front piece, and where a vacuum channel is formed between the vacuum port and the vacuum inlet through the front piece.
In a further embodiment, the picking device is configured for delivering a jet of pressurized gas through the bottom surface of the front piece. Thereby, the workpiece held in the depression may be released from the depression of the collector head when desired.
For this purpose, the picking device may comprise a source of pressurized gas or it may be connectable thereto. The pressurized gas may be led to the collector head through conduits along the collector arm. The pressurized gas may be led through the collector head by an individual channel through the base and the front piece (and in some embodiments having an intermediary piece, through the intermediary piece). However, in embodiments, where the collector head of the picking device comprises
In a second aspect of the objects of the disclosure may be achieved by a method of picking workpieces having a predetermined shape from a worktable surface, using a picking device comprising
In an embodiment, the method further comprising applying a vacuum to the depression to suck the workpiece into contact with the depression.
In an embodiment, the method further comprises moving said collector arm to move the collector head with the workpiece to a second position, and releasing the workpiece from the depression by a jet of pressurized gas delivered to the depression from a source of pressurized gas through the collector head.
Further, the objects of the disclosure may be achieved by a method of manufacturing a front piece for a collector head for a picking device for picking workpieces having a predetermined shape from a worktable surface, the method comprising
Also described herein is a picking device for picking workpieces of a predetermined type from a worktable surface, the workpieces having two surfaces facing away from each other, the picking device comprising
Thereby, a very flexible picking device is achieved, which may be very easily be adapted to pick/grab various types and shapes of workpieces. The front pieces are very cost efficient and easy to manufacture.
Further, the front piece being formed in a soft/resilient material and covering all portions of the distal end of the collector head protects the workpieces, the worktable, jigs and other parts of the picking device from unintended impacts.
In an embodiment the mutually facing sidewalls of the front piece each has at least a portion, which extends perpendicularly relative to the distalmost surface.
In a further embodiment, a depth of the depression from a rim between the distalmost surface and the depression to a bottom surface of the depression at least corresponds to one-half the thickness of the workpiece at a location between said two surfaces of the workpiece facing away from each other.
In some embodiments a distance between the mutually facing sidewalls of the depression corresponds to a distance between the two surfaces of the workpiece facing away from each other. In this case the material for the front piece may be chosen such that a friction between the workpiece and the sidewalls of the depression will cause the workpiece to remain held between the sidewalls when the front piece has been pressed over the workpiece resting on the worktable and being lifted therefrom.
Alternatively, the distance between the mutually facing sidewalls of the depression is smaller than the distance between said two surfaces of the workpiece facing away from each other, such that when the depression is pressed over the workpiece on the worktable, the sidewalls of the depression squeezes on said surfaces of the workpiece.
In a further embodiment a common longitudinal axis is defined along the mutually facing sidewalls, and the depression has a first end and a second end in the directions of the longitudinal axis.
In a further embodiment hereof, a support surface is provided in extension of the first or second ends of the depression in the direction of the longitudinal axis, and the support surface extends in a plane parallel to said bottom surface of the depression.
Thereby, a relevant portions of a workpiece grabbed by the collector head may be backed or supported when setting them onto holders of a jig.
In a further embodiment hereof, the support surface is contoured to correspond to a contour of a portion of the workpiece to be picked.
In a further embodiment the resilient, pliable material of the front piece is a silicone.
In a further embodiment the collector head comprises an intermediary part and wherein a first end of the intermediary part is connected to the distal end of the base and wherein a second end of the intermediary part connects to the proximal end of the front piece.
In further embodiments, the collector head comprises
This allows for grabbing/picking workpieces into the depression by sucking them into the depression of the collector head by application of a vacuum through the collector head.
In further embodiments, a vacuum distributing basin is formed in the bottom surface of the depression and into the body of the front piece, and the suction inlet is formed in the vacuum distributing basin.
In further embodiments, the collector head comprises an intermediary part formed between the base and the front piece, and where a vacuum channel is formed between the vacuum port and the vacuum inlet through the front piece
It should be emphasized that the term “comprises/comprising/comprised of” when used in this specification is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
In the following, the disclosure will be described in greater detail with reference to embodiments shown by the enclosed figures. It should be emphasized that the embodiments shown are used for example purposes only and should not be used to limit the scope of the disclosure.
Various embodiments are described hereinafter with reference to the figures. Like reference numerals refer to like elements throughout. Like elements will, thus, not be described in detail with respect to the description of each figure. It should also be noted that the figures are only intended to facilitate the description of the embodiments. They are not intended as an exhaustive description of the claimed disclosure or as a limitation on the scope of the claimed disclosure. In addition, an illustrated embodiment needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular embodiment is not necessarily limited to that embodiment and can be practiced in any other embodiments even if not so illustrated, or if not so explicitly described.
The shown collector arm 10 is of a type having three articulated sub arms 13. The collector arm may be a standard collector arm known in the art. For example the collector arm may be standard robot arm, such as a delta robot. A delta robot is a type of parallel robot that consists of three arms connected to universal joints at the base. The key design feature is the use of parallelograms in the arms, which maintains the orientation of the end effector, by contrast to Stewart platform that can change the orientation of its end effector. Delta robots have popular usage in picking and packaging in factories because they can be quite fast, some executing up to 300 picks per minute. We note that other types of collector arms may be used as alternatives.
The collector arm 10 is arranged in the vicinity of two worktables 2, arranged side by side. The collector arm 10 has drive and control components 15 at least at the first end 12 of the collector arm 10. The collector arm 10 with its drive and control components 15 is arranged above the worktables 2, and in such a way that the collector arm 10 with its collector head 19 may reach the worktables 2, and a at least a portion of a conveyor 5. We note that in other embodiments there may be just a single worktable 2. In yet other embodiments, there may be more than two worktables 2 for each collector arm 10, arranged side by side or in other configurations. In yet other embodiments there may be more than one collector arms 10 for one or a plurality of worktables 2.
Above each worktable 2, a hopper (or dispenser) 3 is arranged. The hopper(s) 3 feed workpieces onto the worktable(s) 2. The hopper(s) 3 may receive workpieces 100 from e.g. one or more injection moulding machines (not shown), making workpieces in e.g. plastic.
As shown in
The worktables 2 are preferably of the vibrating table type, such that the orientation of workpieces 100 received thereon, dispensed from the hopper 3, may be changed so that the collector arm 10 may pick the workpieces 100 from the worktable 2 even if initially a workpiece lays on the worktable oriented in such a way that it cannot be grabbed by the collector head 19. In such situations, the worktable 2 may be vibrated such that the workpiece 100 may move to be oriented in a way that it may be grabbed/picked.
A camera 4 or other sensor may—as shown in
The control device may comprise software configured for recognizing/identifying workpieces 100 and their location and orientation relative to the worktable 2 from images received from the camera 4, and further be configured for guiding the collector arm 10 and orient the collector head 19, such that a workpiece may be picked/grabbed by the collector head 19 and transported by the collector arm to e.g. a jig 190 (not shown in
In
Turning now to
Likewise, the third object from the left, third workpiece 100, 103, is a head of a toy mini-doll figurine, while the fourth object from the left, fourth workpiece 100, 104, is an axel, which may be used in a toy, for example a toy mini-doll figurine.
The fifth object from the left, fifth workpiece 100, 105, is a set of legs for a toy mini-doll figurine. The left and right legs thereof are to be separated from each other in a subsequent process. The picking device according to the disclosure may for example be used to pick and forward the fifth workpiece to such a separation step of a production process.
The rightmost object, sixth workpiece 100, 106, is pie-piece-shaped tile for a toy construction set as known in the art, and is included to illustrate the variety of shapes of workpieces 100, which may be picked/collected by the picking device 1 according to the disclosure and be received in the collector head 19 according to the disclosure, and as further described below.
The picking device 1 and collector head 19 according to the disclosure may be used to pick such a workpiece 100, 101, 102, 103, 104, 105, 106 from e.g. a work table 2 as described above and placing it onto a jig 200 for further processing, such as providing decorations on the workpiece 100 or simultaneously on a plurality of workpieces 100 on a jig 200. Such a decoration may for example be provided by printing the decoration on the workpiece(s) 100. It will be appreciated that the picking device 1 and collector head 19 according to the disclosure may be used to pick and transport such between other kinds of processes/treatment, or for packing workpiece(s) 100 or finished objects.
It will be appreciated that any workpiece 100, such as the ones mentioned above, may be formed in an injection moulding process. However, the workpiece(s) 100 may be obtained in many other types of processes.
Common to the workpieces 100 is that they have at least two surfaces 161, 162 facing away from each other. Examples of such surfaces are indicated in
We note that the sixth workpiece 100, 106 is an example of a workpiece, where the one of the surfaces facing away from each other may comprise two surface portions. For example, surface 162 faces away from the combination of surfaces 161 and 163.
In any case, it will be appreciated that the surfaces facing away from each other 161, 162 need not be parallel.
It will also be appreciated that the surfaces facing away from each other 161, 162 may be just an edge of the workpiece 100.
It will be further appreciated that between the surfaces facing away from each other 161, 162, a distance is provided. This distance may defined a thickness of the workpiece 100.
Turning now to
The base 20 comprises a body 23 having a proximal end facing the collector arm 10 and a distal end facing away from the collector arm 10. A distal surface 22 (see e.g.
Correspondingly, the intermediate piece 40 has a first surface 41, which is configured for abutting on the distal surface 22 of the base 20. Further, various connecting means (not shown) may be provided on the base 20 and/or the intermediary piece 40, such that the intermediary piece may be connected to the base 20 and thereby to the collector arm 10. Preferably, these connection means are configured for releasably connecting the intermediate piece 40 to the base 20.
A proximal surface formed on the opposite side of the body 23 of the base 20—relative to the distal surface 22—is provided with connection means (not shown) for connecting the collector head to the second end 12 (distal end) of the collector arm 10. The base 20 and thereby the collector head 19 may—in some embodiments—be articulated relative to the distal end 12 of the collector arm 10.
The base 20 is preferably made in a rigid material, such as metal, or hard polymer material.
The intermediate piece 40 comprises a body 43 having a proximal end facing the collector arm 10 and a distal end facing away from the collector arm 10. As mentioned, the intermediate piece 40 has a first surface 41, which is configured for abutting on the distal surface 22 of the base 20, The first surface 41 is provided at the proximal end of the body 43 of the intermediate piece 40.
The intermediate piece 40 is configured for connecting the front piece 50 to the base 20, which may as mentioned above be a part of the collector arm 10.
However, it will be appreciated that in principle—in some (not shown) embodiments—a front piece 50 may be connected directly to the base 20, i.e. without an intermediate piece 40 there between, Especially in situations where the base 20 is a part of standard type collector arm 10, the intermediate piece 40, allows for easier adaption of different types of front pieces 50 to the standard base 20.
For example, the soft material used for the front piece 50 may be difficult to connect to the connection means on the hard material base 20. The intermediate piece 40 may therefore comprise more suitable connection means for connecting the soft material front piece 50 to the base 20. Further, in embodiments (see more further below), where for example a vacuum is to be provided through the collector head 19, the intermediate piece 40 may allow for vacuum distribution channels 45 between standard ports of the base 20 and the front piece 50 that would be difficult to provide in the soft material front piece 50.
The intermediate piece 40 further comprises a second surface 42 (see e.g.
The intermediate piece 40 is preferably made in a rigid material, such as a hard polymer material. The intermediate piece may be 3D printed in a rapid manufacturing process.
The front piece 50 comprises a body 53 having a proximal end 50′ facing the collector arm 10 and a distal end 50″ facing away from the collector arm 10,
The front piece 50 of the collector head 19, as mentioned, has a proximal surface 51 formed at the proximal end 50′ of the body 53 of the front piece 50, and configured for abutting on the second surface 42 of the intermediate piece 40. The intermediate piece 40 further comprises connection means 44 for connecting to the front piece 50. The front piece 50 comprises mating connection means 54, see e.g.
Opposite to the proximal surface 51 of the body 53 of the front piece 50, at the distal end 50″ thereof, a front or distalmost surface 52 is arranged. Preferably, the surface 52 is formed in one plane. Preferably, this plane is parallel to a plane defined by the proximal surface 51 of the front piece 50.
A depression 60 is formed in the distalmost surface 52 of the front piece 50, such that it extends onto the body 53 or at least a portion thereof, and in the proximal direction away from the distalmost surface 52.
In some embodiments (not shown), the distalmost surface 52 is coherent and completely encircling the depression 60. In other embodiments (also not shown), the distalmost surface 52 is coherent and partially encircling the depression 60.
However, as shown in e.g.
The first protruding flange 56′ and the second protruding flange 56″ are preferably formed integral with the body 53 of the 53 of the front piece 50. In embodiments where the front piece has a structure 57 protruding from a distally facing surface or ledge 58 of the body 53, the first protruding flange 56′, the second protruding flange 56″, and the structure 57 are preferably formed integral with the body 53 of the 53 of the front piece 50. The front piece 50 is preferably formed as a unitary structure in one piece and in a soft or resilient material. Preferably, the front piece 50 is formed in silicone. However, the front piece may alternatively be formed in rubber, or a soft polymer.
In one aspect of the disclosure, the front piece 50 may be moulded (not shown). The mould (not shown) for moulding such a front piece may be 3D printed in a rapid manufacturing process (not shown). Thereby, front pieces 50 for picking specific workpieces of many new variants may quickly be manufactured.
Even though the first protruding flange 56′ and the second protruding flange 56″ are preferably formed integral with the body 53, they form different or separate flanges (separate from each other). Consequently, the distalmost surface 52, in such embodiments is not coherent, but instead comprises two distalmost sub-surfaces or surface portions 52′, 52″. Preferably, these two distalmost sub-surfaces or surface portions 52′, 52″ are provided in the same plane.
This is the case in the embodiment shown in
The depression 60, extending inward from the distalmost surface 52 (or distalmost sub-surfaces 52′, 52″), as shown in
No parts of the base 20 extend near the distal surface 52, 52′, 52″. Thereby, it is secured that the hard material base 20 cannot come into contact with the workpieces 100, the worktable surface 2 or the jigs 200 during use, and thereby that the base 20, the workpieces 100, the worktable 2 and/or the jigs 200 are not damaged.
The depression 60 extends inward from the distalmost surface 52, 52′, 52″ and into the body 53 (or the structure 57) of the front piece 50. Further, the depression 60 extends inward from the distalmost surface 52, 52′, 52″ such that the depression 60 comprises two mutually facing sidewalls 61, 62. These mutually facing sidewalls 61, 62 are configured to cooperate with the two chosen surfaces 151, 152 (facing away from each other) of the workpiece 100 to be collected.
We note that one or both of the mutually facing sidewalls 61, 62 may comprise two (or more) side wall portions, for example so that they may cooperate with the combination of surfaces 161 and 163 facing away from the surface 162 in the sixth workpiece 106 mentioned above, or other similar objects.
In any case, it will be appreciated that the mutually facing sidewalls 61, 62 need not be parallel, but will be configured to correspond to the surfaces 161, 162 facing away from each other on the workpiece 100.
It will be further appreciated that between mutually facing sidewalls 61, 62, a distance is provided.
A rim 55 may separate the distalmost surface 52, 52′, 52″ and the mutually facing sidewalls 61, 62.
The mutually facing sidewalls 61, 62 of the depression 60 of the front piece 50, each has at least a portion which extends perpendicularly relative to the distalmost surface 52, 52′. 52″.
The depression 60 has a depth, as defined from the distalmost surface 52, 52′, 52″ or the rim 55 to the bottom surface 65 of the depression 60.
Preferably, the depth of the depression corresponds to at least one-half the thickness of the workpiece 100 at a location between said two surfaces 161, 162 facing away from each other of the workpiece 100. In some embodiments, the depth of the depression corresponds to 50-120% of the thickness of the workpiece 100 at a location between said two surfaces 161, 162 facing away from each other of the workpiece 100. In one embodiment, the depth of the depression corresponds to 60-80% of the thickness of the workpiece 100 at a location between said two surfaces 161, 162 facing away from each other of the workpiece 100.
In some embodiments, the distance between the mutually facing sidewalls 61, 62 of the depression 60 is equal to the distance between said two surfaces 161, 162 of the workpiece facing away from each other. In this case, the flexible material, in which the front piece is formed, may be such that a friction between the workpiece 100 and the sidewalls 61, 62 of the depression will cause the workpiece 100 to remain held between the sidewalls 61, 62, when the front piece 50 has been pressed over the workpiece 100 resting on the worktable 2 and being lifted therefrom. A friction fit is formed between the sidewalls 61, 62 of the depression 60, and the two surfaces 161, 162 of the workpiece facing away from each other.
In some embodiments, the distance between the mutually facing sidewalls 61, 62 of the depression 60 is equal to the distance between said two surfaces 161, 162 of the workpiece facing away from each other. In this case, substitute Specification CLEAN additionally or alternatively to the embodiment describe in the preceding paragraph, a vacuum may be applied through the collector head 19. This option will be described in detail further below. In such embodiments, the vacuum will cause or aid the workpiece 100 to remain held between the sidewalls 61, 62, when the front piece 50 has been pressed over the workpiece 100 resting on the worktable 2 and being lifted therefrom.
In other embodiments, the distance between the mutually facing sidewalls 61, 62 of the depression is smaller than the distance between said two surfaces 161, 162 of the workpiece facing away from each other, such that when the depression 60 is pressed over the workpiece 100, the sidewalls 61, 62 of the depression 60 squeezes on said surfaces 161, 162 of the workpiece 100. This squeezing occurs due to the resilience or softness of the material of front piece 50. In this situation the workpiece is clamped between the sidewalls 61, 62.
As mentioned above, the sidewalls 61, 62 of the depression need not necessarily be parallel to each other, but the sidewalls 61, 62 are facing each other, and such that they are configured to follow a contour of at least a portion of the workpiece 100, which the front piece 50 is configured to pick. A longitudinal axis or a general direction thereby may be defined parallel to the sidewalls 61, 62, or in the same direction as they extend.
However, in an embodiment, the sidewalls 61, 62 of the depression 60 are formed parallel to each other.
In some embodiments, and as shown in
In any case, a support surface 66, 66′, 66″ may be provided in extension to of the length of the mutually facing sidewalls 61, 62, and along the longitudinal axis or general direction of the mutually facing sidewalls 61, 62 of the depression 60.
The support surface 66, 66′, 66″ may be formed as a planar surface (For example support surface 66″ in
As shown in
As also shown in
In more general terms it can be said that each support surface 66, 66′, 66″ is contoured to correspond to a contour of a portion 110, 120, 130, 140 of the workpiece 100 to be picked.
By such a collector head 19 being connected to a collector arm 10 of a picking device 1, workpieces 100 may be picked from a worktable 2 and be held between thee sidewalls 61, 62 of the depression 60 formed in the front piece 50, such that the workpiece 100 may be moved from the worktable 2, and to a jig 200, which may pass the worktable 2 on a conveyor 5.
The exemplary jig 200 comprises means to hold workpieces 100 of the type of second workpieces 102 described above.
Thus, in the embodiment illustrated in
The front piece 50 thus has two sets of distalmost surfaces 52, a first set comprising a first portion 52′ of distalmost surface 52 and a second portion 52″ of the distalmost surface 52, and a second set comprising a third portion 52′ of the distalmost surface 52 and a fourth portion 52″″ of the distalmost surface 52.
The first portion of distalmost surface 52′ is provided on the first protruding flange 56′. The second portion 52″ of the distalmost surface 52 is provided on second protruding flange 56″. The third portion 52′ of the distalmost surface 52 is provided on the third protruding flange 56′″. The fourth portion 52″″ of the distalmost surface 52 is provided on the fourth protruding flange 56″,
The collector head 19 shown in
In any of the above described embodiments, the collector head 19 may further comprises a vacuum port 35 formed through base 20, the vacuum port 35 of the base being connectable to a vacuum pump (not shown). A suction inlet 75 is formed through the bottom surface 65 of the depression 60 of the front piece 50. The suction inlet 75 communicates with the suction port 35 via a vacuum distributing channel through the collector head 19.
In some embodiments (not shown), where a front piece 50 is connected directly on a base 20, the vacuum port 35 through the base 20 may communicate directly with the suction inlet 75 through the bottom of the depression 60 of the front piece 50.
However, in other embodiments, where the collector head 19 comprises an intermediary piece 40, a vacuum channel 45 is formed through the intermediary piece 40 between the vacuum port 35 through the base 20 and the vacuum inlet 75 formed through the front piece 50.
As shown in
A vacuum conducting tubing 30 having a first end 31 and a second end 32 may connect the vacuum port 35 in the base 20 of the collector head 19 with vacuum source 33 such as a vacuum pump. The first end 31 of the vacuum conducting tubing 30 is connectable to a vacuum source 33. The second end 32 of the vacuum conducting tubing 30 is connectable to the vacuum inlet 35 formed in the base 20 of the collector head 19. The vacuum source 33 may be provided at the first end 11 of the collector arm 10, the vacuum conducting tubing 30 being conducted along the collector arm 10. In other embodiments, the vacuum source 33 may be carried at the second, distal end 12 of the collector arm 10 in the vicinity of the collector head 19.
Returning now to
In general the depression 60, in either of the embodiments described above can be said to have a second shape or contour resembling a first contour 156 of a at least a portion of a workpiece 100 to be picked/collected.
The front piece 50 could be termed a collector cup. The front piece 50 may be formed in a material having a friction relative to the material of the workpiece, such that the workpiece may be held in the depression without a vacuum being applied, or without the sidewalls 61, 62 being configured to squeeze the workpiece 100.
The embodiments shown in
It is to be noted that the figures and the above description have shown the example embodiments in a simple and schematic manner, Many of the specific mechanical details have not been shown since the person skilled in the art should be familiar with these details and they would just unnecessarily complicate this description.
Although particular features have been shown and described, it will be understood that they are not intended to limit the claimed disclosure, and it will be made obvious to those skilled in the art that various changes and modifications may be made without departing from the scope of the claimed disclosure. The specification and drawings are, accordingly to be regarded in an illustrative rather than restrictive sense. The claimed disclosure is intended to cover all alternatives, modifications and equivalents.
| Number | Date | Country | Kind |
|---|---|---|---|
| PA202070428 | Jun 2020 | DK | national |
The present application is a U.S. National Stage Application of International Application No. PCT/EP2021/067710, filed on Jun. 28, 2021 and published on Jan. 6, 2022 as WO 2022/002857 A1, which claims the benefit and priority of Danish Patent Application No. 202070428, filed on Jun. 29, 2020, each of which is incorporated herein by reference in its entirety for any purpose whatsoever.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2021/067710 | 6/28/2021 | WO |
