System and method for aligning an object

• US 10,640,300 B2
• Filed: 08/20/2018
• Issued: 05/05/2020
• Est. Priority Date: 08/21/2017
• Status: Active Grant

• Current Assignee: Beckhoff Automation GmbH
• Original Assignee: Beckhoff Automation GmbH
• Inventors: Achterberg, Jan, Boll, Michael, Sinzenich, Andreas
• Primary Examiner(s): Harp, William R
• Application Number:
  US16/105,486
• Publication Number:
  US 20190055091A1
• Time in Patent Office: 624 Days
• Field of Search: 198375, 198376, 198401, 198411, 198416
• CPC Class Codes: B65G 2201/0261 Puck as article support
• CPC Class Codes: B65G 47/244 by turning them about an axis substantially perpendicular to the conveying plane
• CPC Class Codes: B65G 54/02 electrostatic, electric, or magnetic

Abstract

A system and method for defined aligning of an object. A first object with a first alignment is fed. The first alignment is detected and transmitted to a control device. The control device determines a first rotation angle on the basis of the first alignment and a predefined first alignment, and a speed profile of a first translational movement for a first rotor with a differential speed between the guiding device and the first rotor on the basis of the first rotation angle and a predefined speed of the guiding device. The control device controls the first rotor in the first translational movement along the aligning zone on the basis of the determined speed profile, and the first rotor, in interaction with the guiding device, turns the first object to the first predefined alignment in a first rotation about the first rotation angle on the basis of the differential speed.

Claims

1. A system for a defined aligning of at least one object, wherein the system comprises:

a control device, a detector, an aligning device, a guide and an aligning zone,

wherein the aligning device and the guide are arranged at the aligning zone,

wherein the control device is connected to the detector and the aligning device,

wherein the guide has a predefined speed,

wherein the aligning device comprises a linear motor with a first rotor,

wherein a first object with a first alignment can be fed to the aligning zone,

wherein the detector is configured to detect the first alignment of the first object and to transmit the first alignment to the control device,

wherein the control device is configured to determine a first rotation angle on the basis of the first alignment of the first object and a predefined first alignment,

wherein the control device is configured to determine a speed profile of a first translational movement of the first rotor with a first differential speed between the first rotor and the guide on the basis of the determined first rotation angle and the predefined speed,

wherein the control device is configured to control the first rotor in the first translational movement on the basis of the determined speed profile, and

wherein the first rotor in interaction with the guide turns the first object in a first rotation about the first rotation angle to the first predefined alignment on the basis of the first differential speed.

2. The system according to claim 1,

wherein the linear motor comprises a second rotor,

wherein the aligning zone can be fed a second object with a second alignment,

wherein the control device is configured to determine a second rotation angle on the basis of the second alignment of the second object and a predefined second alignment,

wherein the control device is configured to determine a second speed profile of a second translational movement for the second rotor with a second differential speed in relation to the guide on the basis of the determined second rotation angle,

wherein the control device is configured to control the second rotor in the second translational movement on the basis of the determined second speed profile,

wherein the second rotor in interaction with the guide turns the second object in a second rotation about the second rotation angle to the second predefined alignment on the basis of the second differential speed,

wherein the second turning of the second object is brought about on the basis of the second differential speed, and

wherein the second translational movement takes place independently of the first translational movement.

3. The system according to claim 1, wherein the control device is configured to move the first rotor synchronously with the guide at the predefined speed along the aligning zone before turning by the first rotation angle and after turning by the first rotation angle.

4. The system according to claim 1,

wherein the linear motor comprises a second rotor,

wherein the aligning zone can be fed a second object with a second alignment,

wherein the control device is configured to determine a second rotation angle on the basis of the second alignment of the second object and a predefined second alignment,

wherein the control device is configured to determine a second speed profile of a second translational movement for the second rotor with a second differential speed in relation to the guide on the basis of the determined second rotation angle,

wherein the control device is configured to control the second rotor in the second translational movement on the basis of the determined second speed profile,

wherein the second rotor in interaction with the guide turns the second object in a second rotation about the second rotation angle to the second predefined alignment on the basis of the second differential speed,

wherein the second turning of the second object is brought about on the basis of the second differential speed,

wherein the second translational movement takes place independently of the first translational movement, and

wherein the control device is configured to move the first rotor synchronously with the guide at the predefined speed along the aligning zone before turning by the first rotation angle and after turning by the first rotation angle.

5. The system according to claim 1,

wherein the guide comprises a drive unit and a conveyor unit,

wherein the drive unit is configured to move the conveyor unit at the predefined speed,

wherein the conveyor unit is arranged at the aligning zone, and

wherein the aligning zone is arranged between the conveyor unit and the aligning device.

6. The system according claim 5, wherein the conveyor unit is arranged on the underside and/or upper side of the aligning zone.

7. The system according to claim 5,

wherein the guide comprises a rotary table, and

wherein the rotary table is mounted on the conveyor unit rotatably about a rotary table axis.

8. The system according claim 7,

wherein circumferentially on the rotary table a further frictional element is at least partially arranged, and

wherein along the aligning zone the first rotor is coupled with frictional engagement, to the rotary table and turns the rotary table about the rotary table axis.

9. The system according to claim 1,

wherein the guide comprises at least one supporting element,

wherein the supporting element is fixedly arranged,

wherein the aligning zone is arranged between the aligning device and the supporting element, and

wherein the first rotor in the first translational movement presses the first object against the supporting element, at least for a time, and the first rotor in the first translational movement rolls the first object on the supporting element.

10. The system according to claim 1,

wherein the aligning device comprises a frictional element,

wherein the frictional element is coupled to the first rotor on a side facing away from the aligning zone, and

wherein the frictional element is in operative connection with the object along the aligning zone.

11. The system according to claim 10, wherein a contact surface of the frictional element is formed flat on a side facing the aligning zone.

12. The system according to claim 1,

wherein the aligning device comprises a rotary table, and

wherein the rotary table is mounted on the first rotor rotatably about a rotary table axis.

13. The system according to claim 12,

wherein circumferentially on the rotary table a further frictional element is arranged, and

wherein along the aligning zone the further frictional element lies against the guide.

14. The system according to claim 12,

wherein the aligning device comprises a holder, a supporting element and a bearing arrangement,

wherein the bearing arrangement is arranged at a first end of the holder and bears the rotary table rotatably on the holder,

wherein the holder is connected to the first rotor on a side facing away from the bearing arrangement,

wherein the supporting element is arranged at a second end of the holder, opposite from the first end,

wherein the supporting element has a receptacle,

wherein the first object engages in the receptacle, and

wherein the supporting element is configured to prevent tipping of the first object being caused by physical contact of the first object at the receptacle.

15. The system according to claim 12,

wherein the linear motor comprises a second rotor,

wherein the guide comprises a third rotor and a mechanical coupling that mechanically couples the third rotor to the rotary table of the first rotor,

wherein the control device is configured to determine a third speed profile for a third translational movement on the basis of the first rotation angle and the first speed profile,

wherein the third speed profile has the differential speed, at least for a time, and

wherein the control device is configured to control the third rotor on the basis of the third translational movement in such a way that a distance between the first rotor and the third rotor is changed on the basis of the differential speed and the changing of the distance has the effect that the mechanical coupling turns the rotary table about the rotary table axis.

16. The system according to claim 15,

wherein the mechanical coupling comprises a coupling rod and a coupling element,

wherein the coupling rod is connected at one end to the third rotor and at the other end to the coupling element, and

wherein the coupling element is connected to the rotary table.

17. The system according to claim 16,

wherein the coupling rod comprises a toothed rack and the coupling element comprises a gear wheel, and

wherein the toothed rack engages in the gear wheel in a meshing manner.

18. The system according to claim 1, wherein:

the mechanical coupling comprises one or more of a coupling rod, a toothed rack, a gear wheel, or meshed teeth, or a frictional coupling; and

the detector comprises one or more of a camera, image evaluation device or light barrier, or a non-optical detector.

19. A system for a defined aligning of at least one object,

wherein the system comprises a control device, a detector, an aligning device,

a guide and an aligning zone,

wherein the aligning device and the guide are arranged at the aligning zone,

wherein the control device is connected to the detector and the aligning device,

wherein the guide has a predefined speed,

wherein the aligning device comprises a linear motor with a first rotor and a second rotor,

wherein a first object with a first alignment can be fed to the aligning zone,

wherein the detector is configured to detect the first alignment of the first object and to transmit the first alignment to the control device,

wherein the control device is configured to determine a first rotation angle on the basis of the first alignment of the first object and a predefined first alignment,

wherein the control device is configured to determine a speed profile of a first translational movement of the first rotor with a first differential speed between the first rotor and the guide on the basis of the determined first rotation angle and the predefined speed,

wherein the control device is configured to control the first rotor in the first translational movement on the basis of the determined speed profile,

wherein the first rotor in interaction with the guide turns the first object in a first rotation about the first rotation angle to the first predefined alignment on the basis of the first differential speed,

wherein the aligning device comprises a rotary table,

wherein the rotary table is mounted on the first rotor rotatably about a rotary table axis,

wherein the guide comprises a third rotor and a mechanical coupling that mechanically couples the third rotor to the rotary table of the first rotor,

wherein the control device is configured to determine a third speed profile for a third translational movement on the basis of the first rotation angle and the first speed profile,

wherein the third speed profile has the differential speed, at least for a time, and

wherein the control device is configured to control the third rotor on the basis of the third translational movement in such a way that a distance between the first rotor and the third rotor is changed on the basis of the differential speed and the changing of the distance has the effect that the mechanical coupling turns the rotary table about the rotary table axis.

20. A method for operating a system, comprising:

feeding a first object with a first alignment,

detecting the first alignment of the first object and transmitting the first alignment to a control device,

the control device determining a first rotation angle on the basis of the first alignment of the first object and a predefined first alignment,

the control device determining a speed profile of a first translational movement for a first rotor with a differential speed between the guide and the first rotor on the basis of the determined first rotation angle and a predefined speed of a guide,

the control device controlling the first rotor in the first translational movement along the aligning zone on the basis of the determined speed profile, and

the first rotor, in interaction with the guide, turning the first object to the first predefined alignment in a first rotation about the first rotation angle on the basis of the differential speed.