• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    ordering system and method for ordering a flow of articles is an apparatus and a method for ordering a massive flow of articles without collisions between articles (p). the apparatus includes an ordering conveyor (20) which has a plurality of conveyor support rollers (30) selectively rotatable in a direction transverse to the direction of travel of the conveyor (28). the belt rollers (30) are selectively rotated in individual grid cells (38) formed along the track (20) of the conveyor. a control system creates an image of the massive inflow flow, computes the trajectories along the sorting conveyor for each package, and activates or deactivates the conveyor cylinders (30) that pass through each grid cell according to the trajectories to quickly and quickly divert the articles (p) off the side of the sorting conveyor (20).
    公开号:BR112012001211B1
    申请号:R112012001211
    申请日:2010-07-07
    公开日:2020-04-14
    发明作者:L FOURNEY Matthew
    申请人:Laitram Llc；
    IPC主号:
    专利说明:

    ORDERING SYSTEM AND METHOD FOR ORDERING A FLOW OF ITEMS
    BACKGROUND
    The invention relates in general to automated conveyors and, more particularly, to an ordering system that makes use of a conveyor belt that has article support cylinders that are selectively rotated in individual control cells arranged in a grid through the which the mat passes.
    Shoe orderers, pusher bars, and bypass rails are used to order packages and other items on a conveyor. In high-density packet streams, it is often necessary to sort packets side by side before sorting, to prevent one packet from obstructing the output of another out of the carrier. But a carrier used to order packages before they are diverted takes up space. And ordering packages of various sizes and orienting them in a massive flow is difficult, especially at high effluent rates.
    Thus, there is a need for an orderer that can order a variety of pack sizes at a high effluent rate without taking up too much space.
    SHORT DESCRIPTION
    This need and other needs are met by an ordering system that incorporates the characteristics of the invention including an ordering conveyor and a control system. The sorting conveyor includes a conveyor belt that advances in the direction of the conveyor path. The conveyor has conveyor support cylinders that can rotate in a direction transverse to the direction of the conveyor path. The sorting conveyor also includes control elements arranged in a multi-row grid and columns of individually controlled grid cells. The elements of
    2/13 controls selectively rotate the track rollers as they pass through the grid cells. A control system includes a means to detect the size and position of each item that enters the belt. A trajectory along the conveyor belt is computed for each article based on its size and position when entering the conveyor by means of computing a trajectory. Each grid cell is selectively controlled according to the trajectories to traverse the articles transversely through the sorting conveyor along the trajectories.
    In another aspect of the invention, a method for ordering a flow of articles comprises: (a) receiving a flow of articles on conveyor cylinders on a conveyor belt that advances in a direction of the conveyor path; (b) the image formation of the articles to determine their sizes and positions when entering the conveyor belt; (c) computing a trajectory for each article based on its size and position; (d) the selective activation of the conveyor cylinders so that they rotate transversely to the direction of the conveyor path according to the trajectories. In this way, the articles are deflected through the conveyor along the trajectories.
    Another version of the sorting conveyor includes a sorting conveyor that has the cylinders arranged in a multi-row grid and columns of individually controlled grid cells. A control system determines the size and position of each item entering the sorting conveyor, computes a trajectory for each item along the sorting conveyor from the size and position of the item, and selectively controls the cylinders in each cell grid according to the computed trajectories so that the articles drive the cylinders so that they divert the articles through the sorting conveyor along the trajectories.
    BRIEF DESCRIPTION OF THE DRAWINGS
    These features and aspects of the invention, as well as
    3/13 its advantages are better understood with reference to the following description, the attached claims, and the attached drawings, in which:
    FIGURE 1 is an isometric illustration of an ordering system that incorporates the characteristics of the invention;
    FIGURE 2 is a top plan view of the ordering system of FIGURE 1;
    FIGURE 3 is a top plan view of part of the sorting conveyor in the sorting system of FIGURE 1;
    FIGURE 4 is a partially exploded top isometric view of a drive grid for an ordering system as in FIGURE 1;
    FIGURE 5 is a lower isometric view of the drive grid of FIGURE 4;
    FIGURE 6 is an enlarged top plan view of a grid cell of the drive grid of FIGURE 4 in an off position;
    FIGURE 7 is an enlarged bottom view of the grid cell of FIGURE 6 in an off position;
    FIGURE 8 is an enlarged top plan view as in FIGURE 6 with the grid cell in an activated position;
    FIGURE 9 is an enlarged view as in FIGURE 7 with the grid cell in an activated position;
    FIGURE 10 is a block diagram of a control system usable in the ordering system of FIGURE 1;
    FIGURES 11A to 11E illustrate the control sequence for an exemplary arrangement of packages on the sorting conveyor in the sorting system of FIGURE 1; and FIGURE 12 is a flow chart of a version of the control logic usable in the control system of the ordering system of FIGURE 1.
    DETAILED DESCRIPTION
    4/13
    A sorting system that incorporates the characteristics of the invention is shown in FIGURES 1 and 2. A massive inflow of a variety of items, such as boxes or P packages, is ordered on an ordering conveyor 20 and transferred to a alignment conveyor directed outwardly confining 22. The massive flow of packages, randomly oriented and positioned, is fed into the sorting conveyor by an inlet conveyor 24 which advances in a transport direction 26. The inlet conveyor can be provided as a propelled roller conveyor, a smooth conveyor, a modular conveyor belt, a rail, or the like. The sorting conveyor comprises a conveyor belt 28 which has package support cylinders 30 (FIGURE 3) arranged to rotate on the axes 31, perpendicularly or transversely to the direction of the path 32 of the belt, which is in the direction of transport. The track package support cylinders can be actively rotated in the direction of the arrow 34 to deflect the packages to the alignment conveyor 22.
    The cross rollers on the sorting conveyor 28 are selectively rotated in a grid 36 of individually activated zones, or grid cells 38, arranged in rows R and columns C along the sorting conveyor track. In one embodiment, the rollers 30 on the sorting conveyor 28 extend through the thickness of the conveyor so that they can be rotated by rolling contact with the bearing surfaces underlying the conveyor as the conveyor advances in the direction of travel. running machine. An example of such a mat is Intralox® Series 7000 mat manufactured and sold by Intralox, L.L.C, of Harahan, Louisiana, U.S.A.
    An exploded view of a portion of the bearing surface underlying the track is shown in FIGURE 4. The track rollers are supported on an array of control elements - in this example, the bypass rollers 40
    5/13 positioned along the track. The peripheral surfaces of the bypass cylinders serve as rolling surfaces.
    The bypass cylinders are mounted on a track tray 42, which is itself mounted on a carrier frame (not shown). The tray is perforated with a plurality of circular openings 44 arranged in longitudinal columns 46 and lateral or transverse rows 47. The columns of the openings are aligned laterally with the lateral positions of the conveyor rollers. Each opening rotationally receives a cartridge 48 that supports a freely rotatable deflection cylinder 40, which engages with the conveyor cylinders in the corresponding column as the conveyor advances in the direction of the conveyor path. The rolling contact between the track rollers and the bypass rollers causes both to roll over each other and rotate as long as their axes are oblique to each other.
    The bypass cylinder cartridge 48 includes a retaining ring 50 with diametrically opposed holes 52 that support the ends of a received shaft in a hole in the bypass cylinder 40. One of the holes can be a through hole through which the shaft can be inserted in the cartridge and in the bypass cylinder, and the other hole may have a blunt end to form an end retainer for the shaft. In this way, the deflection cylinder is held in the cartridge along a fixed axis with a projecting part of the cylinder that protrudes beyond the top of the retaining ring. An upper pivot rod 54 extends below the retaining ring surrounding the deflection cylinder, which has a cylindrical outer periphery cut into the ring to form a shoulder 56 between the peripheries of the ring and the stem. A lower pivot rod 58 distal to the retaining ring has a smaller diameter than the upper pivot rod. The periphery of the lower articulation rod is cut into the periphery of the upper articulation rod. A cartridge gear 60 is arranged between the stem
    6/13 upper and lower rod, preferably a peripheral gear whose ends are not upper articulation rod.
    Cartridges 48 are
    The cartridge gear is toothed with teeth extending beyond the periphery of the received openings 44 in the track tray as shown in FIGURE 4. The walls of the openings form the bearing surfaces 62 against which the upper pivot rods can rotate. . Due to the fact that the diameter of the retaining rings exceeds the diameter of the openings, the shoulder 56 of the ring is supported on the track tray with the small diameter rods and gear parts suspended below.
    A plurality of gear plates 64 are movably positioned below the track tray. Each gear plate defines one of the individually actionable grid cells. Gears activated in the form of rack gears 66 are arranged on the gear plates. Each rack gear is positioned to mate with the teeth of one of the cartridge gears to form a rack-and-pinion system that can rotate its cartridges in unison while the gear plate is moved. The gear plate has elongated openings 68 limited on one side by a linear array of teeth 70 forming a rack gear. Each elongated opening 68 is positioned below one of the openings 44 in the track tray. The lower hinge rod extends through the elongated openings in the gear plates, which are sandwiched between two other plates: the track tray 42 and a lower plate 72. The lower plate, which is stationarily attached to a part of the carrier frame, it has a plurality of openings 74 vertically aligned with, but having a smaller diameter than, the openings in the track tray. The openings 74 are dimensioned to receive rotationally the
    7/13 lower hinge rods 58 of the cartridges. This helps to align the upper and lower support plates to facilitate the assembly of the cylinder drive mechanism and also confines the rotatable cartridges in rotation on fixed vertical axes.
    and
    The facing spacer cushions 76 at the top of the lower plate 72 and at the bottom of the upper plate 42 maintain the appropriate spacing between the two plates and the moving gear plates 64. The spacers 78, secured by screws 80, 10 washers 82, and nuts 84 , maintain the spacing between the track tray and the bottom plate 72.
    Each gear plate 64 is translated by an individual linear actuator 86, such as a pneumatic cylinder, an electric actuator, or a mechanical actuator. As shown in FIGURE 5, the drivers in each column of grid cells are joined at one end to a mounting bracket 88 mounted on the bottom of the bottom plate 72 by a coupling 90. The extension rod extension 92 at the other end of the actuator is connected by a coupling 94 to a plate 96 of the actuator. Three completely threaded pins 98 extend upward from the driver plate through the notches 100 on the bottom plate. Three flathead screws 102 extend across the gear plate 64 towards the pins to secure the gear plate to the associated driver plate. The extension rod 25 translates the driver plate and the gear plate, where the extension of the rod determines the position of the gear plate and the orientation of the bypass cylinders.
    The operation of one of the grid cells of the bypass conveyor system is illustrated in FIGURES 6-9. Each gear plate 30 controls an arrangement of 18 bypass cylinders.
    (Three bypass cylinders are omitted on the lower left side of FIGURES 6 and 8 to better illustrate the characteristics of the gear plate). In FIGURES 6 and 7, the gear plate
    8/13 is shown translated to an intermediate position in which the cartridges 48 of the bypass cylinder are positioned in the middle of the elongated notches 68. With the cartridges rotated to this position, the axes of rotation 104 of the bypass cylinders in the 5 grid cells they are perpendicular, at right angles, to the direction of the path 32 of the belt. As the conveyor advances in the direction of the conveyor path, the bypass rollers in this orientation rotate in the direction of the conveyor path and the coupled mat cylinders arranged perpendicularly follow along the 10 bypass cylinders without rotation. In this way, the track rollers are disabled when the bypass rollers are in the orientation of FIGURES 6 and 7. When the gear plate is moved in its range to one end with the cartridges positioned at one end of the elongated notches 68 in the 15 FIGURES 8 and 9, the axes of rotation 104 of the offset cylinders form an acute angle γ measured in a clockwise direction from the direction of travel of the belt. In this orientation, the offset rollers rotate in the direction of arrow 106, and the track rollers rotate in the direction of arrow 108 to push objects 20 carried to the right of FIGURE 8, as indicated by arrow 34 in FIGURE 3.
    As shown in FIGURE 3, the outwardly aligned alignment conveyor 22 preferably includes a modular plastic conveyor belt 110 that drives the oblique rollers 112. The cylinders on each half of the belt rotate in an angled direction towards the center of the belt as indicated by arrows 114 and 115. The packages carried on the alignment mat are directed to the center of the mat as it advances in the direction of the path of the mat 32. Preferably, the alignment mat follows more quickly than the sorting mat to increase the separation between consecutive packages along the center line of the alignment conveyor. In this way, the alignment conveyor aligns the packages in a
    9/13 single row for downstream delivery, as illustrated in FIGURE 2. The alignment mat can be constructed of Intralox® Series 400 angled cylinder modules and be supported on the running surfaces, such as a track tray, which 5 drive the track's oblique rollers along the length of the track as the track progresses.
    The size and position of each package is detected by a sensor, such as a digital camera 116 supported above the entrance of the sorting conveyor as shown in 10 FIGURES 1 and 2. Other means for detecting the size and position of each package , such as laser or acoustic systems, can alternatively be employed. The video images 117 taken by the camera are fed into a control system 118 that includes a system controller 119 as shown in FIGURE 15 10. The system controller includes a programmable computer, such as a workstation, a computer from the desktop type, a programmable logic controller, or a built-in microcontroller. The system controller uses the video images, which are taken at regular intervals, to produce a table 20 of trajectories 120 for each packet that is received at the sorting conveyor. The computed trajectories are used to selectively drive the conveyor cylinders that pass through each grid cell to make the packages follow their computed trajectories on the .25 sorting conveyor. Triggers 86 for the individual grid cells are controlled by signal lines 121 by an output module 122. The triggers are labeled Au-Aes in FIGURE 10 to indicate an eight row grid by five columns, or 40 grid cells . The output modules, the drives, and the rack-and-pinion system form a means to selectively control each grid cell. The speed of the sorting belt is also necessary to compute the trajectory. The speed can be detected by a tachometer 124 or other
    10/13 sensor and reported to the system controller. Alternatively, the speed adjustment of the drive motor of the sorting conveyor can be used by the controller to compute the trajectories.
    The operation of the sorting conveyor is illustrated in FIGURES 11A-11E together with the flowcharts in FIGURE 12. A control sequence software routine runs regularly every T seconds, for example, every 0.5 seconds. As indicated in step 124 of the flowchart, the sequence begins by taking a video image of the incoming packet stream. If the controller determines, as in step 126, that a new package, that is, one that has not already been assigned a path, is entering the sorting conveyor, determines the size of that package, or the useful coverage area, and its position on the conveyor as indicated in step 128. The controller then determines the belt speed from a sensor or a fixed point or a predetermined value as in step 130. From the useful coverage area, the position and from the speed data, the controller computes a trajectory for each package that recently entered (step 132) and saves it in a trajectory table. Each path defines which grid cells are to be activated for the associated package during consecutive trigger intervals that begin with the interval during which the package enters the sorting conveyor.
    FIGURES 11A-11E provide an example of operations for two packages P1 and P2. Each figure represents the trigger status of each grid cell at consecutive intervals starting at the initial TI time interval in FIGURE 11A. The other initial times are: T2 = TI + T; T3 = T2 + T; T4 = T3 + T; T5 = T4 + T, where T is the repetition rate of the control sequence. During the first TI to T2 interval (FIGURE 11A), only Gil and G12 grid cells, as indicated by
    11/13 shaded cells, are activated to start the Pl package on its ji path. This is indicated by step 134 of the flowchart in FIGURE. 12, which requests that a grid control task be executed. The grid control task uses the trajectories to determine which grid cells to activate during the time interval (step 136) and sends the corresponding on / off signals to the cell triggers (step 138). No grid cells are initially activated for the P2 package, so it can continue moving in the direction of the conveyor path without interfering with the Pl package. During the next interval, from T2 to T3 (FIGURE 11B), the Gil grid cells , G21, G22, and G31 are activated to continue to divert the PI packet to the alignment conveyor along the ji path. In the meantime, due to the fact that the P2 package is now sufficiently separated enough laterally from PI, the grid cells G33 and G34 are activated to begin to deviate P2 along its j2 path. During the next interval, from T3 to T4 (FIGURE 11C), only the G4I grid cell is activated for PI, which is almost completely transferred out of the sorting conveyor. The grid cells G42, GS2 and GS3 are activated to continue to force P2 along its path. During the next interval, from T4 to T5 (FIGURE 11D), grid cells G16 and G17 are activated to complete the transfer of P2 to the alignment conveyor. Due to the fact that Pl has already been transferred, no grid cell is activated for it. Finally, during the final interval shown, from T5 to T6 (FIGURE 11E), no grid cell is activated because both packets have already been transferred.
    As the example suggests, the paths for each package can be represented by an indexed arrangement of 5 x 8 matrices of Is and Os, where each element of the matrix corresponds to one of the grid cells and a 1 indicates to activate and 0 to disable. The index of each matrix in the layout corresponds to the beginning of the
    12/13 corresponding time interval. The matrices of all trajectories are logically ordered together for each index to determine the activation map of total grid cells during each interval. The map defines the activation / deactivation states of control lines 121 (FIGURE 10) for the triggers.
    As indicated by the flowchart in FIGURE 12, each interval is initiated by the execution of the control sequence, which first forms the images of the input flow and asks the Grid Control Task to emit the trigger signal according to the trajectories. If no new input packets are detected, the control sequence bypasses the computation of the trajectories by following deviation path 140 in the control sequence and proceeds directly to request that the Grid Control Task be performed.
    In this way, the control sequence software provides a means to compute the trajectory for each item, or package, to obtain a fast and orderly transfer of packages outside the sorting conveyor side without collisions between packages.
    Although the invention has been described in detail with respect to a single version, other versions are possible. For example, the cylinders on the sorting conveyor could be selectively activated by mechanisms or systems other than the arrangement of deviation cylinders underlying the conveyor. As an example, the cylinders could be made to be magnetically activated so as to selectively rotate in each grid cell by electromagnets that form the control elements for the grid. Or each track cylinder could include a rotor selectively rotated by an array of individually controlled stators that serve as control elements positioned along the track and define the grid cells. In addition, the conveyor could be discarded and the items
    13/13 directly on the bypass cylinders to be deflected through the sorting conveyor if the bypass cylinders were individually driven motor driven cylinders to rotate or change direction. The flowchart represents an example of a routine that controls the performance of the grid cells according to the computed trajectories of the package. Other software implementations are possible. For example, the visualization step and the grid control step could be performed for different reasons. And the trajectory table could be arranged 10 differently from an array of matrices. Thus, as these few examples suggest, technicians in the subject can make modifications and variations in the specific embodiments presented without departing from the scope of the invention.
    权利要求:
    Claims (10)
    [1]
    1. ORDINATION SYSTEM, comprising:
    an ordering carrier (20) which includes:
    a plurality of selectively rotatable cylinders (40) arranged in a grid (36) of multiple rows (R) and columns (C) of grid cells (38) individually controlled along the sorting conveyor (20); characterized by the system comprising:
    a conveyor belt (28) which advances in one direction of the conveyor path (32) and has a plurality of conveyor article support cylinders (30) that extend through the thickness of the conveyor belt (28) and rotatable in one direction transverse to the direction of the track (32) of the track and where the selectively rotatable rollers have rolling surfaces that come into contact with and selectively rotate the track rollers (30) that pass through the grid cells (38);
    a control system (118) that determines the size and position of each article (P1; P2) entering the sorting conveyor (20), computes a path for each article along the sorting conveyor (20) of the size and the position of the article, and selectively controls the cylinders in each grid cell according to the computed trajectories so that the articles activate the cylinders to deflect articles through the sorting conveyor (20) along the trajectories.
    [2]
    2. ORDERING SYSTEM, according to claim 1, characterized in that the control system (118) comprises at least one camera (116) that provides an image (117) of the articles.
    [3]
    3. ORDERING SYSTEM, according to claim 1, characterized by the control system (118) computing non-interfering trajectories for the articles that enter the conveyor belt (28) side by side.
    [4]
    4. ORDERING SYSTEM, according to the
    Petition 870190097099, of 27/09/2019, p. 6/10
    2/3 claim 1, characterized by the control system (118) computing trajectories as a function of the belt speed in the direction of the belt path (32).
    [5]
    5. ORDERING SYSTEM, according to claim 1, characterized in that the control system (118) includes a driver (86) associated with each grid cell (38) which selectively changes the angle of all selectively rotating cylinders (40) in the grid cell (38) with respect to the track rollers (30).
    [6]
    6. ORDERING SYSTEM, according to claim 5, characterized by the track cylinders (30) rotating on axes (31) parallel to the direction of travel (32) of the
    running machine and the triggers (86) change the angle of all the cylinders (40) selectively rotatable in the harrow (38) The leave on one oblique angle that makes that the cylinders gives running machine spin by contact up to an angle straight, deactivating The rotation the track rollers. 7. SYSTEM OF ORDINATION, according The
    claim 1, characterized in that it further comprises an outwardly directed conveyor (22) which advances in the direction of the track path (32) at a greater speed than and abuts the sorting conveyor (20) side by side along a part the length of the sorting conveyor (20) to receive the articles diverted from the sorting conveyor (20) and accelerates the articles along the outwardly directed conveyor (22) in the direction of the path (32) of the belt in a single row.
    [7]
    8. ORDERING SYSTEM, according to claim 1, characterized by the control system (118) producing a trajectory table for the articles that enter the sorting conveyor.
    [8]
    9. METHOD FOR ORDERING A FLOW OF ARTICLES, comprising the ordering system, as defined in claim 1, characterized by comprising:
    Petition 870190097099, of 27/09/2019, p. 7/10
    3/3 receiving a flow of articles on conveyor cylinders (30) on a conveyor belt (28) which advances in one direction of the conveyor path (32);
    forming the image of the articles to determine their sizes and positions at the entrance to the conveyor belt (28);
    computing a trajectory for each article based on its size and position;
    the selective activation of the conveyor cylinders to rotate transversely to the direction of the conveyor path (32) according to the trajectories to deflect the articles through the conveyor belt (28) along the trajectories.
    [9]
    10. METHOD according to claim 9, characterized in that it further comprises the establishment of a stationary grid of individually controlled grid cells (38) along the conveyor belt (28) to selectively activate the conveyor rollers that pass through the cells grid (38).
    [10]
    11. METHOD, according to claim 9, characterized by comprising producing a trajectory table for the articles.
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    法律状态:
    2019-07-02| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-07-09| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2020-03-17| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-04-14| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 07/07/2010, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US12/509,207|US20110022221A1|2009-07-24|2009-07-24|Roller-belt sorter with control grid|
    PCT/US2010/041124|WO2011011195A1|2009-07-24|2010-07-07|Roller-belt sorter with control grid|
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