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1. WO2022090626 - WASTE SORTING ROBOT AND METHOD FOR CLEANING A WASTE SORTING ROBOT

Publication Number WO/2022/090626
Publication Date 05.05.2022
International Application No. PCT/FI2021/050723
International Filing Date 26.10.2021
IPC
B65G 47/91 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
47Article or material-handling devices associated with conveyors; Methods employing such devices
74Feeding, transfer, or discharging devices of particular kinds or types
90Devices for picking-up and depositing articles or materials
91incorporating pneumatic, e.g. suction, grippers
B07C 5/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
07SEPARATING SOLIDS FROM SOLIDS; SORTING
CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
5Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
B08B 3/04 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
08CLEANING
BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
3Cleaning by methods involving the use or presence of liquid or steam
04Cleaning involving contact with liquid
B08B 3/08 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
08CLEANING
BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
3Cleaning by methods involving the use or presence of liquid or steam
04Cleaning involving contact with liquid
08the liquid having chemical or dissolving effect
B25J 9/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
B25J 13/08 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
Applicants
  • ZENROBOTICS OY [FI]/[FI]
Inventors
  • HOLOPAINEN, Harri
Agents
  • PATIO AB
Priority Data
2030328-528.10.2020SE
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) WASTE SORTING ROBOT AND METHOD FOR CLEANING A WASTE SORTING ROBOT
(FR) ROBOT DE TRI DE DÉCHETS ET PROCÉDÉ DE NETTOYAGE D'UN ROBOT DE TRI DE DÉCHETS
Abstract
(EN) A method of cleaning a waste sorting robot is provided. The waste sorting robot has a manipulator moveable within a working area and a suction gripper connected to the manipulator and arranged to selectively grip a waste object in the working area. The method comprises determining one or more operational parameters of the suction gripper over the plurality of suction gripper operations. The method further comprises detecting a fault in the suction gripper based on the determined one or more operational parameters. The method also comprises suppling a solvent to the suction gripper for cleaning the suction gripper in response to detecting the one or more faults in the suction gripper.
(FR) La présente invention concerne un procédé de nettoyage d'un robot de tri de déchets. Le robot de tri de déchets comprend un manipulateur mobile à l'intérieur d'une zone de travail et un dispositif de préhension par aspiration relié au manipulateur et agencé pour saisir sélectivement un objet usagé dans la zone de travail. Le procédé consiste à déterminer un ou plusieurs paramètres de fonctionnement du dispositif de préhension par aspiration sur la pluralité d'opérations de dispositif de préhension par aspiration. Le procédé consiste en outre à détecter un défaut dans le dispositif de préhension par aspiration sur la base du ou des paramètres de fonctionnement déterminés. Le procédé consiste également à fournir un solvant au dispositif de préhension par aspiration pour nettoyer le dispositif de préhension par aspiration en réponse à la détection du ou des défauts dans le dispositif de préhension par aspiration.
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