• 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:
    An installation for separating and individualizing heterogeneous postal objects of the small parcel or package type (2), comprises: - a platform (3) for temporarily storing a pile of postal objects arranged in bulk, - a vision system ( 4) adapted to form digital images of the heap of postal items in bulk which is static on the platform, - a data processing unit (6) adapted for, from these digital images, identifying a postal item to be individualized which has a gripping face not covered by another postal object, and able to provide data indicative of the spatial position, the orientation in space and the dimensions of this gripping face, - and a pneumatic gripping head (8 ) a robotic arm (7) which is driven from said data to lift the postal object to be individualized by the gripping face, and to deposit the mailpiece on a drop zone out of the flat deforms.
    公开号:FR3031046A1
    申请号:FR1463315
    申请日:2014-12-24
    公开日:2016-07-01
    发明作者:Karine Crest；Pierre Campagnolle；Jacques Petit；Richard Blache
    申请人:Solystic SAS；
    IPC主号:
    专利说明:

    [0001] TECHNICAL FIELD The present invention relates to a separation and individualization installation of postal objects of the small package or package type.
    [0002] The installation according to the invention is in particular intended to be used to feed an automatic postal sorting machine in which the packages or individual packages are moved in series with a constant pitch along the sorting outlets of the machine and are each directed to a sorting outlet appropriate to the delivery address that is affixed to the package or package. PRIOR ART Solutions for the separation and individualization of objects are known in which heterogeneous objects loaded in bulk in a hopper are continuously discharged onto mats, rollers and other mechanical conveyors and are shredded as and when they occur. moving on these conveyors. The ginned objects can then be taken one by one to be put in series in a conveyor belt for example. This type of ginning system has the disadvantage of being bulky.
    [0003] In the postal field, small packages or packets are essentially heterogeneous objects, namely with very variable dimensions and shapes and it is important to put them in series with a constant pitch, that is to say with a distance constant between the front edge of two consecutive objects in series or between the centers of two consecutive objects, to be able to automatically and easily switch each object to a sorting outlet of a sorting machine. SUMMARY OF THE INVENTION The object of the invention is thus to propose a separation and individualization installation of heterogeneous postal objects of the small package or packet type which has a small bulk and which makes it possible to put these objects in series with a constant step at the entrance of a sorting machine.
    [0004] To this end, the subject of the invention is an installation for separating and individualizing heterogeneous postal objects of the small parcel or package type, characterized in that it comprises: a platform for temporarily storing a pile of postal items arranged in bulk, - a vision system adapted to form digital images of the pile of postal items in bulk which is static on the platform, - a data processing unit adapted for, from these digital images, identifying a mailpiece to be individualized which has a gripping face not covered by another postal object, and capable of providing data indicative of the spatial position, the orientation in space and the dimensions of this gripping face, and a pneumatic gripping head of a robotic arm which is driven from said data to take this postal object to be individualized by the gripping face, and to deposit this t postal object on a drop zone 30 off the platform. In this installation, the postal objects are separated one by one by the robotic arm to the last of the 3031046 3 pile of postal items in bulk on the platform. A new pile of postal objects is then reformed on the platform and the postal objects of this new pile of postal objects are separated one by one as before.
    [0005] 5 Whenever a postal item is taken from the heap of postal objects, the vision system forms images of the heap of postal objects remaining on the platform so as to determine a new postal item to be taken from the pile of objects. stored on the platform. The robotic arm may deposit each mailpiece on a moving carpet conveyor at a predetermined fixed speed, the robotic arm being synchronized with this carpet conveyor so that the objects are serially arranged on the conveyor belt with a constant pitch.
    [0006] The installation according to the invention may also have the following features: the gripping head is of variable geometry each time controlled by the dimensions of the gripping face of the postal article to be individualized, the gripping head comprises a plurality of suction cups movable individually to adapt to the profile of the gripping face, the gripping head comprises a main gripping plate with a plurality of suckers and two flaps hinged respectively on two opposite sides of the main plate and each also provided with several suckers, the gripping head is driven to deposit the postal object at a certain orientation of its great length relative to a reference axis, for example the longitudinal axis of the conveyor belt.
    [0007] The invention is described below in more detail and illustrated by the drawings which show an example of an installation for separating and individualizing small parcels or postal packages according to the invention. Figure 1 is a schematic view of the installation according to the invention with a robotic arm. Figure 2 schematically illustrates the gripping head of the robotic arm.
    [0008] DESCRIPTION OF THE EMBODIMENTS In FIG. 1 of the drawings, the plant 1 according to the invention is well adapted to supply a conveyor with small packages or packages 2, for example and not exclusively in an automatic postal sorting machine in which: packages or packages 2 are moved in series at a constant pitch, for example using a bucket conveyor with buckets whose bottom is closed by a flap.
    [0009] Sorting outlets, for example trays, are arranged under and along the bucket conveyor. Each sort output corresponds to a certain postal delivery destination. Depending on the delivery address that has been read on each package or individual package, this package or package is unloaded from a bucket to the corresponding sorting outlet by automatically opening the flap in the bottom of the bucket when the bucket is overhanging this sorting outlet. The separation and personalization installation 30 of postal objects according to the invention here comprises a platform for storing a pile of mail items arranged in bulk.
    [0010] The platform is constituted by a conveyor belt 3 which is adapted to be loaded upstream with a pile of postal objects and bring this pile of postal objects under a vision system 4 equipped with one or more cameras . Once the heap of postal items is under the vision system 4, which can be detected by an optical sensor 5, the conveyor belt 3 is stopped and thus the vision system 4 observes a pile of objects 10 which is static. The vision system is designed to form digital images of this pile of static postal objects seen here from above. An image processing is performed on the digital images in a data processing unit 6 which is also a control / command and control unit for the robotic arm 7. The unit 6 is programmed to identify an individualized object of the robot. pile of loose objects that is static.
    [0011] This object to be individualized is one which has a gripping face, generally a flat rectangular face, which is not covered by another object of the pile of objects and which is preferably oriented towards the top of the pile of objects. . This object to be individualized can be for example that which is at the top of the pile of objects. The unit 6 is programmed to calculate, by a scene analysis with depth, various data indicative of the spatial position of this gripping face (spatial position of the center of gravity of this face) with respect to the platform 3, the orientation in the space of this gripping face and the two dimensions (length and width) of this gripping face. From these data, the unit 6 drives the robotic arm 7 which is provided with a pneumatic gripping head 8 to lift the object to be individualized by the gripping face and deposit it on a removal zone outside the In this embodiment, the gripping head 8 is a pneumatic vacuum head with a variable geometry, that is to say a variable gripping surface. In particular, in FIG. 2, the gripping head comprises a main plate 10 provided with a plurality of suction cups 11. These suction cups 11 can be individually movable transversely to the plane of the plate 10 as illustrated by the arrow M for FIG. adapt to a non-planar profile of the gripping face of the object to be individualized. At least two articulated flaps (symbolized 12, 13) with each provided with a plurality of suction cups such as 11 may be provided on two opposite sides of the main plate 10 so that the gripping surface of the head can be servo-controlled. to the dimensions of the gripping face of the object to be individualized by unfolding or individually raising each flap which improves the grip of the object to be individualized. More particularly, the object to be individualized can be grasped with the main plate 11 of the gripping head, or with the main plate 11 and one flap 12 deployed (the other being raised), or again with the main plate 11 and the two flaps 12,13 deployed.
    [0012] From the spatial orientation and size data of the gripping face, the unit 6 is able to grip the object to be individualized by orienting the main plate 11 in the direction of the long length of the face of the gripping face. gripping and depositing this object by orienting the long length of its gripping face with the longitudinal axis of the flat conveyor 9. Moreover, the unit 6 is able to position the barycentre of the main plate 10 of the head of 10 gripping in gripping coincidence of the object with the center of gravity of the face to be individualized and have this object deposited by the robotic arm on a synchronization reference on the flat conveyor 9 to maintain a constant pitch between two consecutive objects 15 on this conveyor flat.
    权利要求:
    Claims (3)
    [0001]
    CLAIMS1 / Separating and individualization installation of heterogeneous postal objects of the small parcel or package type (2), characterized in that it comprises: - a platform (3) for temporarily storing a pile of mail items arranged in bulk a vision system (4) adapted to form digital images of the heap of postal objects in bulk which is static on the platform, a data processing unit (6) adapted to, from these digital images, identify a postal object to be individualized which has a gripping face not covered by another postal object, and capable of providing data indicative of the spatial position, the orientation in space and the dimensions of this gripping face, and a head pneumatic gripper (8) of a robotic arm (7) which is driven from said data to take this postal object to be individualized by the gripping face, and to deposit this postal item on a drop zone off the platform.
    [0002]
    2 / installation according to claim 1, characterized in that the gripping head (8) is variable geometry and is each time controlled to the dimensions of the gripping face of the postal object to be individualized.
    [0003]
    3 / Apparatus according to claim 2, characterized in that the gripping head (8) comprises a plurality of suction cups (11) individually movable to adapt to the profile of the gripping face. 4 / Apparatus according to claim 3, characterized in that the gripping head (8) comprises a main plate (10) for gripping with several suction cups (11) and at least two hinged flaps (12,13) respectively on two sides opposed to the main plate and each also provided with several suckers. 5 / Apparatus according to one of the preceding claims, characterized in that the gripping head 15 (8) is controlled to deposit the postal object at a certain orientation of its great length relative to a reference axis.
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP3237123B1|2018-09-26|
    EP3237123A1|2017-11-01|
    FR3031046B1|2018-06-29|
    US20160243590A1|2016-08-25|
    US10232407B2|2019-03-19|
    WO2016102820A1|2016-06-30|
    引用文献:
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    ITTV20060123A1|2006-07-17|2008-01-18|Hip Mitsu Srl|CUTTING HEAD STRUCTURE, PARTICULARLY OF ONE OR MORE ADHESIVES OR MIXTURES OF STICKERS|
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    US9487361B2|2013-05-17|2016-11-08|Intelligrated Headquarters Llc|Robotic carton unloader|
    JP6486114B2|2015-01-16|2019-03-20|株式会社東芝|Handling equipment|US9640418B2|2015-05-15|2017-05-02|Suss Microtec Lithography Gmbh|Apparatus, system, and method for handling aligned wafer pairs|
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    CN108190500B|2018-01-25|2019-10-15|武汉昱升光器件有限公司|A kind of threeway overturning circulating plate machine|
    US10822177B2|2018-05-09|2020-11-03|Intelligrated Headquarters, Llc|Method and system for manipulating articles|
    CN109433647B|2018-11-27|2021-09-14|南京理工大学张家港工程院有限公司|Automatic change flowing water letter sorting system|
    CN109433646A|2018-11-27|2019-03-08|南京理工大学张家港工程院有限公司|A kind of automation continuous operation system|
    CN109433645A|2018-11-27|2019-03-08|南京理工大学张家港工程院有限公司|A kind of working method automating continuous operation system|
    CN109433648B|2018-11-27|2021-09-14|南京理工大学张家港工程院有限公司|Automatic flow sorting working method|
    CN109731793A|2018-12-17|2019-05-10|上海航天电子有限公司|A kind of small lot chip bulk cargo device intelligent sorting equipment|
    CN110328157B|2019-07-17|2021-06-29|南京工程学院|Intelligent sorting device based on machine vision and sorting method thereof|
    CN111137648B|2020-02-24|2021-06-01|南京溧水高新产业股权投资有限公司|Commodity circulation transportation sorting device|
    CN111251302B|2020-03-10|2021-12-17|三一机器人科技有限公司|Workpiece grabbing method and device based on vision system|
    法律状态:
    2015-12-14| PLFP| Fee payment|Year of fee payment: 2 |
    2016-07-01| PLSC| Search report ready|Effective date: 20160701 |
    2016-12-12| PLFP| Fee payment|Year of fee payment: 3 |
    2017-12-07| PLFP| Fee payment|Year of fee payment: 4 |
    2019-12-03| PLFP| Fee payment|Year of fee payment: 6 |
    2020-12-08| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1463315A|FR3031046B1|2014-12-24|2014-12-24|INSTALLATION FOR THE SEPARATION AND INDIVIDUALIZATION OF HETEROGENEOUS POSTAL OBJECTS|
    FR1463315|2014-12-24|FR1463315A| FR3031046B1|2014-12-24|2014-12-24|INSTALLATION FOR THE SEPARATION AND INDIVIDUALIZATION OF HETEROGENEOUS POSTAL OBJECTS|
    PCT/FR2015/053545| WO2016102820A1|2014-12-24|2015-12-16|Facility for separating and individualising heterogeneous mail items|
    EP15822978.1A| EP3237123B1|2014-12-24|2015-12-16|Device for separating and singulating heterogeneous postal items|
    US15/142,370| US10232407B2|2014-12-24|2016-04-29|Installation for separating and singulating non-uniform postal articles|
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