• 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:
    The present invention relates to an object pick-up device, wherein said objects comprise a pyramid-shaped end and a substantially flat surface at the opposite end, in a predefined orientation. The invention also relates to a method of picking up objects in a predefined orientation, said objects comprising a pyramid-shaped end and a substantially flat surface at the opposite end.
    公开号:BE1027571B1
    申请号:E20205660
    申请日:2020-09-25
    公开日:2021-11-19
    发明作者:Biesen Marc Van
    申请人:Bls Gemscriptor Lasers Bvba；Newson Nv；
    IPC主号:
    专利说明:

    | BE2020/5660 DEVICE FOR PICK UP OBJECTS IN A PREVIEW DEFINED ORIENTATION FROM A RECIPIENT AND PROCEDURE FOR HOW TO USE IT
    TECHNICAL FIELD The present invention relates to an object pick-up device, said objects comprising a pyramid-shaped end and a substantially flat surface at the opposite end, in a predefined orientation. In a second aspect, the present invention also relates to a method for picking up objects in a predefined orientation. The present invention relates to applications where picking up objects from a bulk container with objects in multiple orientations is required, such as e.g. picking up small diamonds from a container.
    BACKGROUND ART Devices for retrieving objects comprising a pyramid-shaped end and a substantially flat surface at the opposite end, in a predefined orientation from a bulk container, are necessary in many applications, especially in applications related to laser manipulation processes. such as laser scanning, laser engraving, laser marking, laser ablation or laser etching where correct alignment of the object relative to the laser is essential. Such a device is known from United States Patent Specification US20150015877. The device comprises a vacuum nozzle comprising a tube with an internal channel. The internal channel is partially blocked from the inlet by an obstruction. The obstruction is supported by separate arms extending laterally from the tube. US20150015877 further describes an alternative device comprising a vacuum nozzle. The vacuum nozzle has a generally flat bottom with a plurality of apertures.
    The first device according to US20150015877 has the following problem. The device can pick up objects in different orientations other than the predefined orientation.
    The alternative device according to US20150015877 solves the problem of picking up objects in different orientations, but picks up objects with the substantially flat surface towards the device, which is opposite to the predefined orientation.
    Further, US20150015877 does not disclose a method for adjusting or verifying the orientation of an object. US 20180250716 describes a similar system for picking up gemstones via a tube with grooves at the end, wherein the tube is under negative pressure with respect to the environment. The object of the invention is to provide a device and a method which eliminates these drawbacks.
    SUMMARY OF THE INVENTION The present invention and embodiments thereof serve to overcome one or more of the above drawbacks. To this end, the present invention relates to an apparatus for picking up objects in a predefined orientation according to claim 1. By the term "object" as used herein, it is meant that the object has a pyramid-shaped end and a substantially flat surface on the opposite side. end has. Objects can include, but are not limited to, a pyramid, cone, hemisphere, or diamond. The predefined orientation is with the pyramidal end of the object toward the inlet of the vacuum nozzle and the substantially flat surface of the object perpendicular to the axis of the vacuum nozzle. The opposite orientation is with the substantially flat surface of the object toward the inlet of the vacuum nozzle, perpendicular to the axis of the vacuum nozzle. The advantage of such a device is that it rests on at least one radial groove on the inlet side for picking up the object in the predefined orientation. In prior art US20150015877 the vacuum nozzle has facilities, which are walls surrounding the inlet, for picking up the object according to a certain orientation, in this case the opposite orientation. However, the walls cannot prevent the object from being picked up in the predefined or the opposite direction. In another embodiment of the vacuum nozzle in the same prior art US20150015877, the vacuum nozzle has improved facilities, which are multiple inlets, for picking up an object according to a certain direction, which is still the opposite direction. The present invention solves this by relying on the fact that the object sufficiently closes off the inlet of the vacuum nozzle only in the predetermined orientation (i.e. with the pyramid-shaped end partially in the nozzle), thereby reducing the pressure within the internal channel of the nozzle. the vacuum nozzle can be lowered compared to the outside of the vacuum nozzle, which is required for picking up an object with the vacuum nozzle.
    Additionally, it should be noted that in some industries, e.g. gem (diamond) processing, part of the process may include marking on the “table” (the flat top surface of a cut gem). In industrial settings, which usually work with low carat stones (0.5 - 4 carats, usually 1 - 2 carats), large quantities of the stones are processed in bulk, requiring a fast and guaranteed instrument for correct orientation. Consequently, the prior art device requires a further step/tool to allow the table to be available for marking. Given the small size of the bricks marked in this way, this is a cumbersome operation and would increase costs due to the need for additional machines, in addition to adding a step to the process where an error could occur. Reducing the number of steps is crucial in any industrial process for the sake of efficiency in cost and performance.
    Preferred embodiments of the device are shown in any of the claims.
    In a second aspect, the present invention relates to a method according to the claims. More particularly, the method as described herein provides that objects can be picked up from a recipient in a predefined orientation. In prior art systems, this is often done by means of a visual inspection system, which inspects the orientation of the object after pick-up. However, failure to pick up the object according to the predefined orientation results in the object being released and a new attempt to pick up the object is made. The present invention solves this by means of the device according to claim 1. The object is picked up in the predefined orientation, eliminating the visual inspection system and avoiding new attempts to pick up the object in the predefined orientation.
    Preferred embodiments of the method are shown in any of the claims. Further embodiments and their advantages are described in the detailed description and the claims.
    DESCRIPTION OF THE DRAWINGS The following description of the figures of specific embodiments of the invention is merely illustrative in nature and is not intended to limit the present description, its application, or uses. In the figures, like reference numerals indicate like or corresponding parts and features. Figure 1 - prior art - shows an axial cross section of a prior art vacuum nozzle. This figure is described in more detail in Example 1. Figure 2 - prior art - shows a view of an alternative prior art vacuum nozzle. Figure 3 shows a bottom view of a nozzle of an embodiment of the present invention. Figure 4 shows schematically the attraction of an object in the inlet according to the predefined orientation.
    > BE2020/5660 Figure 5 shows schematically the attraction of an object in the inlet according to the opposite orientation. Figure 6 shows schematically how the orientation of an object can be checked.
    DETAILED DESCRIPTION OF THE INVENTION Unless otherwise defined, all terms used in the description of the invention, including technical and scientific terms, have the meaning generally understood by one of ordinary skill in the art to which this invention pertains. Further, the definitions of the terms are included to better understand the description of the present invention.
    In this document, an "object" includes a pyramidal end and has a substantially flat surface on the opposite end. Objects can include, but are not limited to, a pyramid, cone, hemisphere, or diamond. In a particular embodiment, the objects are precious stones, in particular polished gemstones, and most particularly polished diamonds.
    In this document, the term "predefined orientation" refers to an orientation with the pyramidal end of the object toward the inlet of the vacuum nozzle and the substantially flat surface of the object perpendicular to the axis of the vacuum nozzle.
    References throughout this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or feature described in connection with the embodiment is incorporated into at least one embodiment of the present invention. The terms "in one embodiment" or "in an embodiment" in various places throughout this specification do not necessarily all refer to the same embodiment, but may do so. Further, the particular functions, structures or features may be combined in any suitable manner, as will be apparent to one skilled in the art from this disclosure, in one or more embodiments. Furthermore, while some embodiments described herein include some, but not other, functions included in other embodiments, combinations of functions of different
    ° BE2020/5660 embodiments intended to fall within the scope of the invention, and constitute different embodiments, as will be apparent to those skilled in the art. For example, in the following claims, any of the described embodiments may be used in any combination.
    The present invention relates to an apparatus for picking up objects in a predefined orientation according to the claims. In a preferred embodiment, the device comprises a vacuum nozzle. The vacuum nozzle comprises a tube with an internal channel and which is surrounded by a jacket. The tube includes an inlet at a first end of the tube, said inlet communicating with the internal channel. The device is further provided with a pressure control means suitable for controlling the pressure within the internal channel of the vacuum nozzle. The vacuum nozzle comprises at least one, preferably two, three, four or more radial grooves at the first end of the tube, said radial tube extending completely through the shell of the tube. The device further comprises a conveying means adapted for moving the vacuum nozzle in at least a first and second direction, said first and second directions being non-parallel and preferably perpendicular to each other. The device also includes a pressure measuring means for measuring a pressure in the internal channel of the vacuum nozzle. The pressure measuring means is preferably adapted to measure the pressure in the internal channel at the first end of the tube, since the pressure there better reflects the effect achieved (than, for example, close to where the pressure control means is connected to the vacuum nozzle). In a preferred embodiment, the minimum length of the vacuum nozzle is 1 mm. The minimum length of the vacuum nozzle is preferably 3 mm. Even more preferably, the minimum length of the vacuum nozzle is 5 mm. In a preferred embodiment, the maximum length of the vacuum nozzle is 50 mm. The maximum length of the vacuum nozzle is preferably 40 mm. Even more preferably, the maximum length of the vacuum nozzle is 30 mm.
    In a preferred embodiment, the minimum outer diameter of the vacuum nozzle, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, is 1 mm. Preferably, the minimum outer diameter, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, is 3 mm. Even more preferably, the minimum outer diameter, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, is 5 mm.
    In a preferred embodiment, the maximum outer diameter of the vacuum nozzle, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, is 20 mm. Preferably, the maximum outer diameter, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, is 15 mm. Even more preferably, the maximum outer diameter, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, is 15 mm.
    In one embodiment, the outside diameter of the vacuum nozzle increases from the first end of the vacuum nozzle to the second end. This is particularly advantageous in case the vacuum nozzle has an outer diameter below a certain value (such as less than 3 mm) in order to increase the mechanical strength of the vacuum nozzle.
    In some cases, the outer diameter may vary, having two or more sections of substantially constant outer diameter, and either discrete or gradient transitions therebetween.
    In one embodiment, the periphery of the vacuum nozzle is non-cylindrical, e.g. oval-shaped or other suitable shape. This is particularly advantageous in case the vacuum nozzle has an outer diameter below a certain value (such as less than 3 mm) in order to increase the mechanical strength of the vacuum nozzle.
    The vacuum nozzle may include metal, polymer, composite materials, textile, plastic, and any combination of one or more of the above.
    A possible embodiment provides a vacuum nozzle comprising several layers, wherein the layers differ in the layout of the material. In a preferred embodiment, the jacket of the vacuum nozzle has a thickness, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, of at least 0.2 mm. Preferably, the thickness, at least at the first end of the vacuum nozzle, but preferably over the entire length of the vacuum nozzle, is at least 0.35 mm. Even more preferably, the thickness, at least at the first end of the vacuum nozzle, but preferably over the entire length of the vacuum nozzle, is at least 0.5 mm. In a preferred embodiment, the jacket of the vacuum nozzle has a thickness, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, of maximum 5 mm. Preferably, the thickness, at least at the first end of the vacuum nozzle, but preferably over the full length of the vacuum nozzle, is maximum 3 mm. Even more preferably, the thickness, at least at the first end of the vacuum nozzle, but preferably over the entire length of the vacuum nozzle, is 2 mm maximum. In one embodiment, the size of the internal channel increases above the inlet. This reduces air leakage when the mouthpiece is closed by a picked object in a predefined orientation.
    In some cases, the inner diameter may vary, having two or more sections of substantially constant inner diameter, and either discrete or gradient transitions therebetween. Accordingly, embodiments are contemplated wherein a section at the first end of the mouthpiece has a smaller inner diameter than sections further away from said first end. The length of said section at the first end may be anywhere from 1.0 mm to several cm or even more. This is particularly advantageous in case of vacuum nozzles having an outer diameter at the first end below a certain value (such as less than 1 mm) in order to reduce the frictional losses for the air flow in the internal channel. In one embodiment, the perimeter of the internal channel above the inlet is non-cylindrical, e.g. oval-shaped or other suitable shape.
    In one embodiment, the object can be picked up by the device by applying a pressure in the internal channel that is lower than the atmospheric pressure outside the vacuum nozzle using the pressure control means. Because of the pressure difference between the outside of the vacuum nozzle and the internal channel, the object can be attracted to the inlet when it is sufficiently close to said inlet. When the object is attracted to the inlet in the correct, predefined orientation (i.e., with the pyramidal end to the inlet), the pyramidal end of the object will enter the inlet and substantially block the internal channel of the vacuum nozzle. Because of the substantial blockage of the internal channel, the pressure measuring means will measure a pressure in the internal channel which is lower than atmospheric pressure, and in particular lower than a predefined pressure threshold which is itself lower than atmospheric pressure, indicating that a object is picked up in the predefined orientation by the vacuum nozzle. Upon detecting that the measured pressure is lower than the predefined pressure threshold, the transport means can then move the vacuum nozzle with the object to another location.
    When the object is attracted to the inlet in the opposite orientation, the substantially flat surface of the object will touch the inlet, but not be able to enter. The groove(s) allow air into the inner channel and thus the inner channel is not blocked enough to reach the predetermined pressure threshold. The pressure sensing means will measure approximately the same pressure in the internal channel as atmospheric pressure and no pick-up will be performed.
    In a preferred embodiment of the device, the device is provided with a receptacle suitable for containing a plurality of objects in an open interior volume of the receptacle. The internal volume of said receptacle is accessible to the vacuum nozzle. In such an embodiment, the objects are contained in an enclosed space, which increases the chance when the vacuum nozzle is moved with the transport means that an object can be found and picked up.
    The receptacle may be cuboidal, cylindrical, conical, cupped, ovoid (or a truncated variation of any of the above), but is not limited to the above. The container material may include metal, plastic, glass or even cardboard. The open top surface of the receptacle is preferably equal to or greater than the bottom surface of the receptacle.
    In the case of a bundle-shaped or cylindrical container, the longitudinal axis of the container is preferably tilted with respect to a vertical axis. This has the effect that the objects are concentrated in the lower part of the container. The receptacle is tilted at least 0°, more preferably at least 15°, even more preferably 30°.
    The receptacle is tilted maximum 75°, more preferably maximum 60°, even more preferably 45°. In the most preferred embodiment of the device, the receptacle and the vacuum nozzle are adapted for relative movements with respect to each other. In such an embodiment, the receptacle can move relative to the position of the vacuum nozzle to present another object to the vacuum nozzle. The relative movement of the container can also shake the objects in the container, which can change the orientation of an object to the predefined orientation with respect to the nozzle, thus allowing pick-up by the vacuum nozzle. The relative movement of the vacuum nozzle to the position of the receptacle has similar effects. Another object can be introduced to the vacuum nozzle or the vacuum nozzle can push an object and rotate it to its predefined position. In one embodiment of the device, the vacuum nozzle is substantially immobile (while picking up an object, although it can be moved after successful picking). The receptacle can be moved along one or more of three perpendicular axes. Two axes are in a horizontal plane and the third axis is vertical. The receptacle can be moved along the vertical axis to bring the inlet of the vacuum nozzle below the level of the objects and down to pull the vacuum nozzle out of the receptacle. Alternatively, the receptacle can be moved vertically while the nozzle inlet remains below the level of the objects. Note that the movement may also vary between the two alternatives. The receptacle may be movable along one or both of the two horizontal axes simultaneously or the movement may alternate along the two horizontal axes to create a search pattern with the vacuum nozzle in the container.
    N BE2020/5660 container to be carried out. An embodiment can be designed in which the receptacle is movable in a circular, elliptical, figure-eight pattern in the horizontal plane.
    In a preferred embodiment, one or more of the above movements may be combined, either alternately or jointly, and in particular joint combinations of vertical and horizontal movements. In one embodiment of the device, the receptacle is immobile (during pick-up). The vacuum nozzle can be moved along one or more of three perpendicular axes. Two axes are in a horizontal plane and the third axis is vertical. The vacuum nozzle can be moved down the vertical axis to bring the inlet of the vacuum nozzle below the level of the objects and can be moved up to pull the vacuum nozzle out of the container. Alternatively, the nozzle can be moved vertically while the nozzle inlet remains below the level of the objects. Note that the movement may also vary between the two alternatives. The vacuum nozzle may be movable along one or both horizontal axes simultaneously or may alternate movement along the two horizontal axes to perform a search pattern with the vacuum nozzle in the container. An embodiment can be designed in which the nozzle is movable in a circular, elliptical, figure-eight pattern in the horizontal plane. In a preferred embodiment, one or more of the above movements may be combined, either alternately or jointly, and in particular joint combinations of vertical and horizontal movements. In an embodiment of the device, the vacuum nozzle is movable along at least one of three perpendicular axes (vertical axis and two horizontal axes). The receptacle may also be displaced along at least one of said three perpendicular axes. In a particular embodiment, the vacuum nozzle is movable along the vertical axis. The receptacle is movable along the two horizontal axes or may alternate movement along the two horizontal axes to perform a search pattern with the vacuum nozzle in the receptacle.
    In a further embodiment of the device, the receptacle can be adapted to swing to shake the objects. Note that this oscillation may occur on top of other relative movements of the receptacle and/or the vacuum nozzle to perform a search pattern. The speed of displacement of the oscillation is at least twice the speed of the mutual movements of the recipient and/or the vacuum nozzle for performing a search pattern. The amplitude of the oscillating movement is in the range of 0.5 cm to 5 cm. The oscillating movements can be performed along a longitudinal axis, a horizontal axis, simultaneously along two perpendicular horizontal axes or alternately along two perpendicular horizontal axes. The horizontal axes of the oscillating movements can, but must not, correspond to the two perpendicular horizontal axes of the relative movements of the container and/or the vacuum nozzle to perform a search pattern.
    In a preferred embodiment of the device, the device comprises a control system for controlling the relative movements of the recipient and the vacuum nozzle relative to each other and for controlling the transport means. In such an embodiment, the control system is preferably adapted to automatically control the relative movements of the receptacle and the vacuum nozzle relative to each other to present a different object to the vacuum nozzle and to change the orientation of the objects in the recipient. The control system is also preferably adapted to control the transport means and automatically move the vacuum nozzle from the container to another location when the vacuum nozzle has successfully picked up an object.
    In one embodiment of the device, the area of the inlet of the vacuum nozzle is smaller than the substantially flat surface of the object. In such an embodiment, when the object is attracted to the inlet of the vacuum nozzle in the opposite orientation, the area of the inlet is too small for the object to go into the inlet in the opposite orientation, and the vacuum nozzle can reach the object. do not pick up.
    In one embodiment of the device, the vacuum nozzle is adapted for picking up diamonds with a table and a pavilion and/or culet, said pavilion and/or culet comprising a plurality of facets. The outside diameter of the tube should be at least equal to the size of the table (substantially flat surface of the object) of the diamond, which corresponds to about 50% of the size of an ideal proportion diamond. The size of the inlet of the vacuum nozzle is preferably in the range of 30% to 40% of the size of a diamond with ideal proportions so that the diamond pavilion and/or culet of the diamond can go deep enough into the inlet to sufficiently block the inlet. The depth of the grooves is in the range of 10% to 15% of the size of a diamond with ideal proportions. All grooves are preferably equally wide. The perimeter of the inlet over which the grooves extend in combination is equal to at least 5%, preferably at least 10%, and maximum 60% of the circumference of the pipe.
    Minimum tube diameter, minimum and maximum inlet size and minimum and maximum depth of grooves according to the weight of a diamond with ideal proportions. carat- | Diamond | min. min. max. min. max. weight | size tube inlet size | inlet size | depth depth (mm) diameter | (mm) (mm) grooves | grooves (mm) (mm) (mm) In a further embodiment of the device, the radial grooves are positioned in a pattern according to the facets of the pavilion and/or culet. In one embodiment of the device, the vacuum nozzle is intended to pick up objects comprising a pyramidal end and a substantially flat surface at the opposite end, the substantially flat surface forming a regular polygon and the vacuum nozzle having at least three grooves wherein the grooves are positioned to correspond to the vertices of the regular polygon of the substantially planar surface. The outside diameter of the tube must be at least equal to the size of the substantially flat surface of the object. The size of the inlet of the vacuum nozzle is preferably in the range of 60% to 80% of the size of the object so that the pyramid-shaped end of the object can go deep enough into the inlet to sufficiently block the inlet The depth of the grooves are preferably in the range of 20% to 30% of the diameter of the object.
    All grooves are preferably equally wide.
    The perimeter of the inlet over which the grooves extend combined is equal to 5% to 60% of the circumference of the pipe.
    In an embodiment of the device, the vacuum nozzle comprises an inlet with a deformable coating on the inside of the inlet.
    The deformable coating preferably comprises rubber, foam, silicone.
    The size of the inlet of the vacuum nozzle is preferably in the range of 65% to 90% of the size of the object so that the pyramidal end of the object can enter the inlet and the deformable coating on the inside of the inlet will compress.
    Compressing the deformable coating can form a seal around the pyramidal end of the object upon insertion, which will substantially block the grooves in the first end of the vacuum nozzle.
    This is advantageous when objects with different substantially flat surfaces have to be picked up from the same receptacle, for example objects with a substantially flat surface forming a triangle, hexagon, octagon, circle, ....
    In such an embodiment, the depth of the grooves is in the range of 20% to 30% of the diameter of the object.
    All grooves are preferably equally wide.
    The perimeter of the inlet over which the grooves extend in combination is equal to 5%, preferably 10%, to 60% of the circumference of the pipe.
    In one embodiment of the device, the jacket is beveled internally at the inlet.
    This can be understood to mean that the skirt is internally chamfered or chamfered at the inlet, with the radius of the internal channel increasing towards the first end.
    The bevel is preferably created at an angle between 20° and 70° between the inlet and the first end of the vacuum nozzle.
    The chamfer improves the blocking of the grooves by an object as it enters the inlet according to the predefined orientation.
    Said angle is preferably in the range between 30° and 60°, more preferably between 35° and 55°, although it can be foreseen that it corresponds to the shape of the objects to be picked up (in the example of diamonds, with the corner of the pavilion). The above angle can be understood as the angle at which the chamfer diverges away from a virtual (tangential) continuation of the nozzle.
    In a second aspect, the present invention relates to a method according to the claims.
    In one embodiment, the method comprises multiple steps. A pressure is applied in the internal channel by means of the pressure control means which is lower than the atmospheric pressure outside the vacuum nozzle. The inlet of the vacuum nozzle is introduced into the receptacle to a level lower than that of the objects to facilitate the attraction of the objects to the inlet of the vacuum nozzle. The vacuum nozzle comprises a tube with an inner channel, which inner channel is surrounded by a jacket. The tube includes an inlet at a first end of the tube, said inlet communicating with the internal channel. The pressure within the internal channel is measured, preferably at a position close to the first end of the tube. Because of the pressure difference between the outside of the vacuum nozzle and the internal channel, an object can be attracted to the inlet. When the object is attracted to the inlet, and provided at the inlet in the predefined orientation (i.e. with the pyramidal end to the inlet), the pyramidal end of the object will partially enter the inlet and the internal channel of the vacuum mouthpiece substantially block. Because of the substantial blockage of the internal channel, the internal channel pressure measured will be significantly lower than atmospheric pressure, and in particular below a predefined pressure threshold (which is itself lower than atmospheric pressure), which indicates that an object has been picked up in the defined orientation by the vacuum nozzle.
    When the object is attracted to the inlet in the opposite orientation, the substantially flat surface of the object will abut the inlet, but will not be able to partially enter the inlet. The groove or grooves allow air to enter the internal channel and consequently the internal channel is insufficiently blocked to achieve a pressure within the internal channel which is lower than the predefined pressure threshold, and in fact approximately the same pressure as the atmospheric pressure will be in such a case should be measured in the internal channel. Only when it is detected that the measured pressure falls below a predetermined pressure threshold, the vacuum nozzle, in such an embodiment, is removed from the receptacle, thereby removing an object in the predefined orientation.
    In one embodiment of the method, the vacuum nozzle is immobile. The receptacle can move relative to the vacuum nozzle along three perpendicular axes. Two axes are in a horizontal plane and the third axis is vertical. The receptacle moves up the vertical axis to bring the vacuum nozzle below the level of the objects to facilitate the attraction of the objects to the inlet of the vacuum nozzle. The receptacle moves simultaneously along the two horizontal axes or alternately along one of the two horizontal axes to perform a search pattern with the vacuum nozzle in the receptacle. The movements of the container relative to the vacuum nozzle may result in the representation of a different object at the vacuum nozzle. The vacuum nozzle can push against an object in the container, which can change the orientation of the object to the predefined orientation. In an embodiment of the method, the receptacle is immobile. The vacuum nozzle can move relative to the receptacle along three perpendicular axes. Two axes are in a horizontal plane and the third axis is vertical. The vacuum nozzle moves down the vertical axis to bring the vacuum nozzle below the level of the objects to facilitate the attraction of the objects to the inlet of the vacuum nozzle. The vacuum nozzle moves simultaneously along the two horizontal axes or alternately along one of the two horizontal axes to perform a search pattern with the vacuum nozzle in the container. The movements of the vacuum nozzle relative to the receptacle may result in the representation of a different object at the vacuum nozzle. The vacuum nozzle can push against an object in the container, which can change the orientation of the object to the predefined orientation. In a preferred embodiment of the method, the vacuum nozzle moves relative to the container along a vertical axis and the container can move relative to the vacuum nozzle along two perpendicular axes in a horizontal plane. The vacuum nozzle moves down the vertical axis to bring the vacuum nozzle below the level of the objects to facilitate the attraction of the objects to the inlet of the vacuum nozzle. The receptacle moves simultaneously along the two horizontal axes or alternately along one of the two horizontal axes to perform a search pattern with the vacuum nozzle in the receptacle.
    The movements of the container relative to the vacuum nozzle may result in the representation of a different object at the vacuum nozzle.
    The vacuum nozzle can push against an object in the container, which can change the orientation of the object to the predefined orientation.
    Note that for any of the above variations, an object attracted to the inlet of the vacuum nozzle in the opposite orientation is very likely to be pushed away from the inlet by the other objects in the receptacle due to the reciprocal movements between the receptacle and the receptacle. the vacuum nozzle.
    The objects have a weaker attraction to the inlet of the vacuum nozzle in the opposite orientation than in the predefined orientation and are also more exposed to collisions with other objects because the pyramid-shaped end of the object is not inside the inlet of the vacuum nozzle, resulting in a greater volume available for collisions.
    In a further embodiment of the method, an oscillating movement of the container relative to the vacuum nozzle to shake the objects is performed on top of the mutual movements of the container and/or the vacuum nozzle to perform a search pattern.
    The speed of the oscillating movement is at least twice the speed of the mutual movements of the receptacle and/or the vacuum nozzle for performing a search pattern.
    The amplitude of the oscillating movement is in the range of 0.5 cm to 5 cm.
    The oscillating movements can be performed along a longitudinal axis, a horizontal axis, simultaneously along two perpendicular horizontal axes or alternately along two perpendicular horizontal axes.
    The horizontal axes of the oscillating movements can, but must not, correspond to the two perpendicular horizontal axes of the relative movements of the container and/or the vacuum nozzle to perform a search pattern.
    In one embodiment of the method, the relative movements of the receptacle and the vacuum nozzle continue at least until the detection that the measured pressure in the internal channel is lower than the predetermined pressure threshold, indicating that an object is attracted to the inlet of the vacuum nozzle in the predefined orientation and can be picked up by the vacuum nozzle.
    In one embodiment, the predetermined pressure threshold is at least 100 mbar lower than atmospheric pressure. The predetermined pressure threshold is preferably at least 200 mbar, more preferably at least 300, 400 or even 500 mbar, lower than the atmospheric pressure.
    In a further embodiment of the method, after removing the vacuum nozzle from the container (when holding one of the objects after detecting that a measured pressure in the internal channel is lower than the predefined pressure), the vacuum moves nozzle to a substantially flat support surface, pressing the held object against said support surface. In such an embodiment, the substantially flat surface of the object is aligned with the substantially flat support surface. This can be useful for further processing steps of the object in case the object was not perfectly aligned according to the predefined orientation. The vacuum nozzle holding the object is preferably moved to the support surface along an axis substantially perpendicular to the support surface.
    In a further preferred embodiment, after removing the vacuum nozzle from the receptacle holding the object in the preferred carrying orientation and aligning the substantially flat surface of the object with the substantially flat support surface, the vacuum nozzle provides the object at a position on the support surface comprising an aperture through the support surface, said aperture having a smaller diameter than that of the substantially flat surface of the object, the aperture being an inlet to a housing. After this step, a predetermined pressure is applied within the housing which is different from the outside pressure. The pressure within the housing is measured after a certain period of time with a pressure measuring means. In such an embodiment, the measured pressure is compared with the predetermined pressure and it is assumed that the orientation of the object has been successfully verified as the predetermined orientation when the measured pressure and the predetermined pressure are comparable.
    In a most preferred embodiment, the picked object is returned to the receptacle using the vacuum nozzle if the orientation verification fails. In such an embodiment, objects that after verification are not perfectly aligned according to the predefined orientation, are reintroduced into the receptacle for another attempt. Examples The present invention will now be further illustrated with reference to the following example(s). The present invention is in no way limited to the given examples or to the embodiments shown in the figures.
    Example 1: Prior art device 1 Figure 1 — Prior art shows an axial cross-section of a prior art vacuum nozzle according to US Patent US20150015877. The vacuum nozzle 1104 consists of a tube 702 having an internal passageway 704. The inlet is designated 708. In this particular vacuum nozzle, the internal passageway is partially blocked from the inlet by the obstruction 706 for purposes not relevant to this invention. Because the inlet 708 must still be connected to the channel 704, the obstruction 706 is supported by separate arms 710 extending laterally from the tube 702 . The vacuum nozzle 110a is used to pick up gemstones for inspection. The inlet 708 has sidewalls that drop inwardly to the bottom of the vacuum nozzle 110a. At the bottom, the inner sides of the sidewalls also fall inward, but to the inner channel. This suggests that the gems are believed to be picked up by the vacuum nozzle 110a with the pyramidal end (pavilion) of the gem in the inlet
    708. The intended orientation of the gemstone is in fact the opposite. The substantially flat surface (table) of the gemstone should be parallel to the obstruction 706. The particular shape of the sidewalls is intended to hold the crown under the gemstone's table. The prior art document US20150015877 itself states that the gems can be picked up by the vacuum nozzle 1104 so that a tip (pavilion) or corner is inserted into the inlet 708. Example 2: Device according to the state of the art 2
    Figure 2 - The prior art shows a view of an alternative prior art vacuum nozzle in reference to US Patent US20150015877. The vacuum nozzle 810 has a generally flat underside 870 with a plurality of apertures 871 instead of the single inlet 708 of the vacuum nozzle 1104 of the previous example.
    The vacuum nozzle 810 is also intended for picking up gemstones for inspection.
    The drawback of the vacuum nozzle 1104 of the previous example that it is possible for gems to be picked up by the vacuum nozzle 110a so that a tip (pavilion) or corner is inserted into the inlet 708 is solved by replacing the sidewalls with a common one. flat bottom 870 with a central aperture in this example and six placed in a hexagon around the single central aperture.
    The effect of this is to force an orientation of the gemstone picked up by the vacuum nozzle 810 which aligns a flat side, preferably the table, with the apertures of the nozzle.
    Example 3: Laser marking of diamonds In this example, the present invention is used to pick up diamonds from a container and transport the diamonds to a flat surface where the diamonds will be marked on the substantially flat surface (table) with a laser.
    This example refers to Figure 3, Figure 4, Figure 5 and Figure 6. The dimensions in the figures and their proportions do not necessarily represent actual dimensions and proportions.
    Figure 3 shows a bottom view of a nozzle of an embodiment of the present invention.
    Figure 4 shows schematically the attraction of an object in the inlet according to the predefined orientation.
    Figure 5 shows schematically the attraction of an object in the inlet according to the opposite orientation.
    Figure 6 shows schematically how the orientation of a diamond can be checked.
    The diamonds 3 are kept in an open container.
    The vacuum nozzle 1 is immersed in the container.
    The inlet 2 of the vacuum nozzle 1 is located below the top level of the diamonds in the receptacle.
    The vacuum nozzle 1 is moved in two horizontal directions, perpendicular to each other, to cover the entire surface of the container during the pick-up process.
    Obviously, an alternative solution for covering the entire surface of the receptacle is to move the receptacle in two perpendicular directions with respect to the vacuum nozzle 1. The pressure in the internal channel 4 of the vacuum nozzle 1 is reduced to a pressure lower than atmospheric pressure outside the vacuum nozzle 1. When a diamond 3 gets too close to the inlet 2, the diamond 3 will be attracted to the inlet 2 .
    The diamond 3 can contact the inlet 2 with the substantially flat surface 5 of the diamond 3 (table). The grooves 6 in the shell 7 of the vacuum nozzle 1 will not be closed and air can still flow from outside the vacuum nozzle 1 through the grooves 6 in the internal channel 4.
    This situation is shown in Fig. 5. The arrow at the top indicates the airflow created by the pressure control means for creating a pressure in the internal duct 4 that is lower than the atmospheric pressure.
    The arrows at the bottom indicate how the air can still flow from outside the vacuum nozzle 1 through the grooves 6 to the internal channel 4. The pressure within the internal channel is measured with a pressure measuring means 8, e.g. a manometer.
    However, when the pyramid-shaped end 9 of the diamond 3 (pavilion) enters the inlet 2, the grooves 6 are substantially blocked on the inside of the inlet 2 by the diamond 3. Air cannot flow into the internal channel 4 and the pressure gauge 8 will measure a drop in pressure in the internal channel 4.
    This situation is shown in figure 4. The arrow at the top indicates the airflow created by the pressure control means for creating a pressure in the internal duct 4 that is lower than the atmospheric pressure.
    The pressure within the internal channel is measured with a pressure measuring means 8, e.g. a manometer.
    The pressure in the internal channel is more than 500 mbar lower than the atmospheric pressure outside the internal channel.
    The diamond 3 cannot first enter the inlet 2 with the table 5 because the dimensions of the inlet 2 are smaller than the dimensions of the table 5. The grooves 6 are too deep to have a substantially substantial blockage of the grooves 6 in case not the pavilion 9, but one of the other corners of the diamond 3 goes into the inlet 2.
    When the measured pressure is lower than the predetermined threshold, the device detects that a diamond 3 has been picked up successfully and the vacuum nozzle 1 is removed from the receptacle.
    To facilitate the blocking of the grooves by the diamond 3, the inlet 2 has a chamfer 10 on the inside of the inlet 2. The chamfer is preferably created at an angle between 30 and 50 degrees between the inlet 2 and the first end. of the vacuum nozzle 1.
    The movements of the vacuum nozzle 1 or the receptacle relative to each other are not only required to cover the entire surface of the receptacle during the pick-up process, but it will also help to change the orientation of the diamonds 3 according to the predetermined orientation with the pavilion 9 to the inlet of the vacuum nozzle 1. Due to the movements of the container, the diamonds 3 will shake or the diamonds 3 can be pushed over by the vacuum nozzle 1, and the diamonds 3 can tilt to rest on their table 5 . It is also possible that the container makes fast movements with a small amplitude along one, two or three axes to shake the diamonds 3 and that the vacuum nozzle 1 makes slower and longer movements compared to the movements of the container to shake the diamonds 3 . find and pick up.
    During the pick-up process, the number of diamonds 3 in the receptacle will decrease, which could result in some areas of the bottom of the receptacle being no longer covered by diamonds 3. This will slow down the pick-up process. To ensure that a sufficient number of diamonds 3 will still be presented to the inlet 2 of the vacuum nozzle 1, the receptacle may be rotated about an axis in the horizontal plane. Gravity will cause the diamonds 3 to sink to the lowest part of the receptacle. The area to be covered by the vacuum nozzle 1 to find and pick up the diamonds 3 can be limited to this lower part of the receptacle. An alternative is to use a cup-shaped container. Gravity will ensure that the diamonds 3 are located at the lower part of the bowl, without the recipient having to be rotated about an axis in the horizontal plane. When the device has successfully picked up a diamond 3, although the pavilion 9 of the diamond 3 is inside the inlet 2 of the vacuum nozzle 1, the table 5 of the diamond 3 may not be perfectly aligned with the surface on which the diamond 3 will be placed to be marked with the laser. In a next step, the vacuum nozzle 1 will be transported to a substantially flat surface 11 and the vacuum nozzle 1 will be lowered until the table 5 of the diamond 3 is pushed against the substantially flat surface 11. This will change the orientation of the Adjust diamond 3 slightly until table 5 aligns with surface 11.
    At the position of the diamond 3, there is a small aperture 12 in the substantially flat surface 11. This aperture 12 is connected to a housing 13 below the flat surface 11. To verify the correct alignment of the diamonds 3, the pressure is inside the housing 13 is changed to a predetermined value which is different from the atmospheric pressure outside the housing 13, while the vacuum nozzle 1 holds the diamond 3 in place above the aperture 12 .
    The housing 13 has a connection 15 to means for changing the pressure inside the housing 13 .
    The means for changing the pressure inside the housing 13 is not shown in Fig. 6. The predetermined pressure may be higher or lower than the atmospheric pressure.
    A pressure gauge 14 measures the pressure inside the housing 13 during a certain period of time.
    When the difference between the predetermined pressure and the measured pressure within the housing 13 is less than a predefined threshold, the table 5 of the diamond 3 is correctly aligned with the substantially planar surface 11, otherwise the aperture 12 would not be completely closed. and the pressure inside the housing 13 would remain atmospheric or quickly return to atmospheric pressure.
    Finally, if this verification of the alignment of the diamond 3 is also successful, the diamond 3 can be marked on the table 5 of the diamond 3 by the laser.
    For example, if the verification fails, the diamond 3 could be returned through the vacuum nozzle 1 to the recipient for another attempt, or the vacuum nozzle 1 could set the diamond 3 aside for further inspection.
    权利要求:
    Claims (14)
    [1]
    Apparatus for picking up objects in a predefined orientation, said objects comprising a pyramidal end and a substantially flat surface at the opposite end, comprising: a vacuum nozzle, said vacuum nozzle comprising a tube having an inner channel and surrounded by a jacket, said tube including an inlet at a first end of the tube, said inlet communicating with the inner channel; a pressure control means adapted to control the pressure within the inner channel of the vacuum nozzle; a conveying means adapted to move the vacuum nozzle in at least a first and second directions, said first and second directions being non-parallel and preferably perpendicular to each other; and a pressure measuring means adapted to measure a pressure in the internal channel of the vacuum nozzle, characterized in that the vacuum nozzle comprises: at least one, preferably two, three, four or more, radial grooves at the first end of the tube, said radial groove extending completely through the shell of the tube.
    [2]
    The device of claim 1, wherein the device includes a receptacle adapted to hold a plurality of the objects in an open interior volume of the receptacle, the interior volume of said receptacle being accessible to the vacuum nozzle .
    [3]
    An apparatus according to claim 2, wherein the receptacle and the vacuum nozzle are adapted for relative movements with respect to each other.
    [4]
    An apparatus according to claims 1-3, wherein the apparatus is provided with a control system for controlling the relative movements with respect to each other of the receptacle and the vacuum nozzle for controlling the conveying means, said control means preferably being automated .
    [5]
    An apparatus according to the preceding claims 1-4, wherein the size of the area of the inlet of the vacuum nozzle is smaller than the base of the object.
    [6]
    An apparatus according to the preceding claims 1-5 for picking up diamonds having a table and a pavilion and/or culet, said pavilion and/or culet comprising a plurality of facets, the radial grooves being positioned in a pattern according to the facets of the pavilion and/or culet.
    [7]
    An apparatus according to the preceding claims 1-6, wherein the vacuum nozzle comprises at least three grooves, said grooves being positioned to define the vertices of a regular polygon.
    [8]
    Apparatus according to any of the preceding claims 1-7, wherein the jacket is beveled internally at the inlet.
    [9]
    A method of picking up objects in a predefined orientation, said objects comprising a pyramid-shaped end and a substantially flat surface at the opposite end, from a receptacle holding a plurality of objects therein, said method having the following steps includes: a. applying a pressure in the internal channel that is less than the atmospheric pressure outside the vacuum nozzle; b. introducing the inlet of the vacuum nozzle into the receptacle to a level below that of the objects, said vacuum nozzle comprising a tube having an inner channel and surrounded by a jacket, said tube having an inlet at a first end of the tube, and the inlet is provided with at least one, preferably two, three or more radial grooves at the first end of the tube, said radial groove extending completely through the jacket of the tube; c. measuring the pressure within the internal channel;
    wherein the vacuum nozzle is removed from the receptacle upon detecting that a measured pressure is less than a predetermined pressure threshold that is less than atmospheric pressure.
    [10]
    The method of claim 9, comprising a step of mutually moving the receptacle and the vacuum nozzle relative to each other after introducing the inlet of the vacuum nozzle into the receptacle, and at least until detecting that the measured pressure in the internal channel is lower than the predetermined pressure threshold.
    [11]
    The method of picking up objects in a predefined orientation according to any one of claims 9 to 10, further comprising the step of: moving the vacuum nozzle holding the object after detecting that a measured pressure in the internal channel is lower is then the predetermined pressure threshold to a substantially flat support surface, wherein the held object is pressed against said support surface and the substantially flat surface of the object is aligned with the substantially flat support surface.
    [12]
    The method of picking up objects in a particular orientation and verifying the orientation according to claim 11, wherein the vacuum nozzle provides the object at a position on the support surface, which support surface includes an aperture through the support surface, said aperture being a smaller in diameter than that of the substantially flat surface of the object, the aperture being an inlet to a housing; said method comprising the steps of: applying a predetermined pressure inside the housing which is different from the outside pressure; measuring the pressure within the housing with a pressure measuring means; comparing the measured pressure with the predetermined pressure.
    [13]
    The method of claim 12, wherein the associated object is returned to the receptacle using the vacuum nozzle when the orientation verification fails.
    [14]
    14. A method according to claims 9-13, performed with a device according to claims 1-8.
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    同族专利:
    公开号 | 公开日
    BE1027571A1|2021-04-06|
    WO2021058108A1|2021-04-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20150015877A1|2012-03-16|2015-01-15|De Beers Centenary AG|Gemstone inspection|
    US20180250716A1|2015-09-08|2018-09-06|De Beers Uk Ltd|Vacuum nozzle|
    法律状态:
    2022-01-10| FG| Patent granted|Effective date: 20211119 |
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/EP2019/076167|WO2021058108A1|2019-09-27|2019-09-27|Device for picking objects in a predefined orientation from a recipient and method of using it|
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