초록 ▼

Mounted upon a servo-motor-driven longitudinally-reciprocable X-axis carriage is a servo-motor-driven laterally-reciprocable Y-axis carriage carrying an air cylinder with a vertically-reciprocable and rotatable piston rod. Mounted atop the piston rod is a fixed horizontal arm carrying a rotary actua

Mounted upon a servo-motor-driven longitudinally-reciprocable X-axis carriage is a servo-motor-driven laterally-reciprocable Y-axis carriage carrying an air cylinder with a vertically-reciprocable and rotatable piston rod. Mounted atop the piston rod is a fixed horizontal arm carrying a rotary actuator and a reciprocating motor respectively rotating and reciprocating a movable horizontal arm mounted on the fixed arm. Also mounted on said fixed arm and rotatable by a stepping motor is a horizontal narrow-angle video camera with high resolving power. An inclined reflector mounted on the outer end of said movable arm reflects into the horizontal camera light rays from articles underneath on a work carrier. A stationary vertical overhead wide angle video camera of lower resolving power is fixedly mounted above said work carrier and focussed thereupon. Mounted on said movable arm behind said reflector is an article-gripper stepping motor arranged to rotate, upon a vertical axis, a depending article gripper having gripping fingers operated by an air cylinder mounted on said movable arm. A modification replaces both cameras by a single vertical overhead video camera mounted on and rotated by a stepping motor upon a servo-motor-driven laterally-reciprocable Y-axis carriage which in turn is mounted upon a servo-motor-driven longitudinally-reciprocable X-axis carriage above the work carrier. The computerized electronic operating system for this device involves conventional components and is described below.

대표청구항 ▼

A rotary video article centering, orienting and transferring machine adapted to be installed in a computerized electronic operating and control system with a memory section therein and operable to transport articles from a loading station to an unloading station outside said machine, said machine co

A rotary video article centering, orienting and transferring machine adapted to be installed in a computerized electronic operating and control system with a memory section therein and operable to transport articles from a loading station to an unloading station outside said machine, said machine comprising an article carrier disposed at the loading station, a machine-supporting structure adapted to be disposed between said stations, a first X-Y axis positioner including a first X-axis carriage mounted on said structure for horizontal reciprocation longitudinally of said article carrier and a first Y-axis carriage mounted on said X-axis carriage for horizontal reciprocation laterally of said X-axis carriage, means for so reciprocating said first X-axis and said first Y-axis carriages, a lifting and horizontally swinging device mounted on said first Y-axis carriage, an article transporter mounted on said device for lifting and swinging thereby and having an article gripper connected thereto and movable thereby between the loading and unloading stations, a first video camera mounted in optical alignment with said article carrier for rotation around its optical axis and having a focal plane disposed in focus with said article carrier for imaging articles thereon in said focal plane, said first video camera having means thereon adapted for the electrical connection thereof to the computerized electronic operating and control system for transmitting the image of a randomly-positioned article on said carrier in said focal plane to the operating and control system for comparison with the image of a previously-properly-positioned article on said article carrier previously recorded in the memory section, and means responsive to the bringing of the video camera image of the randomly-positioned article on said workpiece carrier into coincidence with the image in the memory section of the computerized electronic operating and control system for rotating said first video camera and moving said X-axis carriage and said Y-axis carriage to move said article gripper into a position adjacent the randomly-positioned article for pickup thereof.