A new method for the synchronous displacement of objects with unknown size, shape and mechanical properties

Abstract

ABSTRACTThe paper deals with the problem of placing objects coming from an input transportation system – conveyor belt – on a specific position of another output moving transportation system and with time and velocity synchronization. The paper focuses on the case of the synchronous and precise placing of objects without predefined patterns of shapes and when they have unknown mechanical properties or when classic picking techniques are not applicable, due to the objects mechanical properties: frozen objects, sliding objects, very hot objects, etc. For such a type of objects, the paper proposes a new automatic handling approach to maximize the flexibility to objects adaptation by simplifying systems mechanic-especially concerning objects grip and moving to the system computational part the work of dealing with the variability of the objects properties. This approach avoids picking the objects to be lifted. Instead, they are slid over the conveyor belts faster or slower than them. Two controlled barriers or fingers – front and rear – push and hold back the object. This way, the velocity of the sliding movement of the object may be controlled, in order to synchronize the output of the object from the input belt with a specific object position from the output belt.