Machine for positioning objects
A machine for positioning objects, comprising a first conveyor belt configured to receive a plurality of objects; computer vision means configured to identify the position and shape of the objects; robotic collection means configured to collect the objects; and exit means configured to allow exiting of the objects. The machine comprises a rotary transfer track arranged in a closed circuit around two rotating axes; and a plurality of transfer elements attached to the rotary transfer track, configured to receive the objects. The rotary transfer track is configured to produce a rotary movement of the transfer elements around the two rotating axes, and a rectilinear movement thereof between the two rotating axes.
1. Machine for positioning objects, comprising:
a first conveyor belt set to receive a plurality of objects;
machine vision means set to identify the position and shape of objects arranged on the first conveyor belt;
robotic collection means set to pick up the objects from the first conveyor belt according to the information received from the machine vision means; and
output means set to allow the output of said objects; said machine characterized in that it comprises:
a rotating transfer track formed by a rotating conveyor belt and arranged in a closed circuit around rotating axes; and
a plurality of transfer elements attached to the rotating transfer track along it, set to receive the objects coming from the robotic collection means and deliver said objects to the output means;
where said rotating transfer track is set to produce a rotary movement of the transfer elements around the two rotating axes, and a rectilinear movement thereof between said two rotating axes.
2. Machine for positioning objects according to claim 1 , characterized in that the output means comprise a handling track arranged longitudinally according to a direction of advance of the objects, set to allow support and sliding of the objects along the same.
3. Machine for positioning objects according to claim 2 , characterized in that the handling track is arranged parallel to the first conveyor belt.
4. Machine for positioning objects according to claim 2 , characterized in that the handling track is formed by a plurality of smooth-surfaced rods.
5. Machine for positioning objects according to claim 2 , characterized in that the handling track is formed by a plate or sheet.
6. Machine for positioning objects according to claim 2 , characterized in that the handling track is formed by a plurality of rotating rollers arranged perpendicular to the direction of advance of the objects.
7. Machine for positioning objects according to claim 1 , characterized in that the output means comprises a second conveyor belt.
8. Machine for positioning objects according to claim 1 , characterized in that the rotating conveyor belt comprises:
two semicircular sections arranged around the two rotating axes, each set to produce the rotary movement of the transfer elements; and
two straight sections attached to both semicircular sections between the two rotating axes, each set to produce the rectilinear movement of the transfer elements; where said semicircular sections and said straight sections are joined together forming a closed circuit.
9. Machine for positioning objects according to claim 1 , characterized in that the rotating transfer track is arranged in an inclined position between the first conveyor belt and the output means.
10. Machine for positioning objects according to claim 9 characterized in that the transfer elements are set to receive objects coming from the robotic collection means in a horizontal position and deliver said objects to the output means in a vertical position.
11. Machine for positioning objects according to claim 1 characterized in that the rotating transfer track is arranged vertically between the first conveyor belt and the output means.
12. Machine for positioning objects according to claim 11 characterized in that the transfer elements are set to receive the objects coming from the robotic collection means in inverted vertical position and deliver said objects to the output means in vertical position.
13. Machine for positioning objects according to claim 1 , characterized in that the rotating transfer track is arranged horizontally between the first conveyor belt and the output means.
14. Machine for positioning objects according to claim 13 characterized in that the transfer elements are set to receive objects coming from the robotic collection means in vertical position and deliver said objects to the output means in vertical position.
15. Machine for positioning objects according to claim 1 , characterized in that the transfer elements are set to receive the objects coming from the robotic collection means in a predetermined position and deliver said objects to the output means in vertical position.
16. Machine for positioning objects according to claim 1 , characterized in that the transfer elements are set to receive the objects by means of pneumatic suction or mechanical clamping.
17. Machine for positioning objects according to claim 1 , characterized in that each transfer element comprises a gripper set to hold the object.
18. Machine for positioning objects according to claim 17 , characterized in that the gripper is set to close after receipt of the object to hold the same, and to open during delivery of the object to release it.
19. Machine for positioning objects comprising:
a first conveyor belt set to receive a plurality of objects;
machine vision means set to identify the position and shape of objects arranged on the first conveyor belt;
robotic collection means set to pick up the objects from the first conveyor belt according to the information received from the machine vision means; and
output means set to allow the output of said objects; said machine characterized in that it comprises:
a rotating transfer track arranged in a closed circuit around rotating axes; and
a plurality of transfer elements attached to the rotating transfer track along it, set to receive the objects coming from the robotic collection means and deliver said objects to the output means; where said rotating transfer track is set to produce a rotary movement of the transfer elements around the two rotating axes, and a rectilinear movement thereof between said two rotating axes; characterized in that each transfer element is formed by a head comprising one or more suction cups set to hold the object by suction and/or aspiration thereof.
20. Machine for positioning objects according to claim 19 , characterized in that it comprises at least two suction cups arranged perpendicular to the direction of advance of the objects.
21. Machine for positioning objects according to claim 19 , characterized in that each suction cup is arranged on a movable base set to vary the position of the suction cup on the head.
22. Machine for positioning objects according to claim 19 , characterized in that the output means comprise a handling track arranged longitudinally according to a direction of advance of the objects, set to allow support and sliding of the objects along the same.