Recycling robot cell

Abstract

The invention relates to a device for robotic recycling (2) of at least one set composed of a content and a container, the container comprising a main body and a cover covering an opening of the main body allowing access to the content, the recycling device comprising: - at least one loading zone (4, 6) of the set, - at least one member (14, 16) for separating the lid and the main body, - at least one member (22) for gripping the main body configured to position the main body so as to orient the opening downwards, - at least one means for mechanically routing the content, and - a plurality of collection receptacles (18, 26) for collecting the container and the content.

Description

Title of the invention: recycling robot cell

[0001] The invention relates to recycling devices and methods, and more particularly to devices and methods for separating and recycling a container / content set.

[0002] In view of optimising the recycling of a container / content set, it is relevant to separate the container from the content, and this in order to recycle the content and the container separately.

[0003] Let us take the example of Petri dishes prepared in series. Petri dishes, conventionally composed of crystalline polystyrene, are filled with an agar, conventionally based on agar-agar. This is a nutrient medium intended to make it possible to produce cell cultures, among other things.

[0004] Sometimes, during the manufacture of prefilled Petri dishes, some of them may be discarded, for example because they cannot be marketed / used. It then becomes relevant to recycle them.

[0005] To do this, it is interesting to consider separating the container (the Petri dishes) and the content (the agar). The specific case of Petri dishes is interesting because the agar has a high methanogenic power, hence a particular interest in recovering the latter. However, in general and for obvious reasons, separating a container and a content of various natures is interesting for any recycling.

[0006] For example, a possibility of separating the container by rinsing to remove the content thereof is known, but this leads to contaminating the content and adding a water treatment system, which is not desirable when the content is, like an agar, a recoverable element, or even has high added value.

[0007] Document CN 217 172 190 U discloses a robotic recycling device of a set composed of a content and of a container comprising a zone for loading the set, means for gripping and handling the container and receptacles for collecting the content and the container. 2023388524  09 Jun 2025

[0008] The aim of the invention is to provide an energy-efficient recycling device, seeking to optimally separate a content from a container, both in terms of separation speed and separation efficiency, while ultimately obtaining an uncontaminated content and container.

[0009] For this purpose, a first aspect of the invention provides a device for robotic recycling of at least one set composed of a content and of a container, the container comprising a main body and a lid covering an opening of the main body allowing access to the content, the recycling device comprising: - at least one loading zone of the set, - at least one member for separating the lid and the main body, - at least one member for gripping the main body configured to place the main body so as to place the opening downwards, - at least one means for mechanically routing the content, and - a plurality of receptacles for collecting the container and the content.

[0010] Thus, a robotic device is obtained making easy loading of sets composed of a content and of a container (main body and lid) possible, without needing to separate the lid and the main body beforehand, which makes rapid loading of the sets possible.

[0011] In addition, an “upside-down” placement of the container (that is to say with an opening of the container downwards), combined with a mechanical routing of the content, makes a simple and optimal separation of the content and the container possible, by making it possible to empty almost all or even all of the content by gravity, without contaminating the content by the presence of container residue in the content.

[0012] Finally, the various elements are separated into different receptacles for separate recycling.

[0013] Depending on other optional features of the recycling device taken alone or in combination: - the recycling device comprises a zone for loading a plurality of sets packaged in at least one package, and at least one member for separating the package and the sets. Thus, it is also possible to load the recycling device with packaged sets, for example filmwrapped, without needing to remove the film beforehand; - the recycling device comprises a loading zone configured to accommodate a plurality of packages packaged in at least one outer wrapping, and at least one member for separating the outer wrapping, the packages and the sets. Thus, it is also possible to 2023388524  09 Jun 2025 load the recycling device with packaged and even outer wrapped sets, for example in a box, without needing to remove the package and outer wrapping beforehand; - the member for separating the package and the sets, or the outer wrapping, the packages and the sets, comprises at least one first robotic arm comprising means for cutting the outer wrapping and / or the packages and means for removing the outer wrapping and / or the packages; - the first robotic arm comprises at least one blade for cutting the outer wrapping and / or packages, fingers for handling the outer wrapping, and rollers for removing the packages; - the member for separating the package and the sets, or the outer wrapping, the packages and the sets, comprises at least one means for collecting the outer wrapping and the package(s). The outer wrapping and packages are thus sorted; - the recycling device comprises at least one member for transferring the unpacked sets to the member for separating the lid and the main body of each set. Therefore grouped transfer of the sets for further recycling is facilitated; - the member for transferring the unpacked sets to the member for separating the lid and the main body of each set comprises at least one tiltable plate; - the member for separating the lid and the main body of the set is at least partially formed by at least one vibrating hopper. Therefore, an easy and grouped separation of the lids and main bodies is obtained; - the recycling device comprises at least one first conveyor for transferring the set, the member for separating the lid and the main body of the set to the member for gripping the main body; - the first conveyor comprises means for sorting the lid and the main body. This makes it possible to sort the lids without passing the latter to the member for gripping the main body; - the member for gripping the main body comprises at least one second robotic arm comprising at least one suction cup for gripping the main body; - the member for gripping the main body comprises means for detecting the presence of a lid and / or the positioning of the main body. This makes it possible to ensure that the lid has come off before routing the content; - the recycling device comprises means for removing the lid in the event of detection of the presence of the lid; - the mechanical routing means is placed above a receptacle for collecting the content. This makes quick and easy collection of the content possible; - the mechanical routing means is immobile, the gripping member being configured to move the main body relative to the mechanical routing means. The use of the gripping 2023388524  09 Jun 2025 member is therefore optimised without complicating the location of the mechanical routing means; - the recycling device comprises at least one second conveyor for conveying the emptied main body to a receptacle for collecting the main body; and - the recycling device is movable.

[0014] The invention also provides a method for robotic recycling of at least one set composed of a content and of a container, the container comprising a main body and a lid of an opening of the main body allowing access to the content, the pro: - depositing at least one set in a loading zone of the set, - separating the lid and the main body, - gripping the main body and placing the main body so as to place the opening downwards, - mechanically routing the content, and - placing the container and the content in different collection receptacles.

[0015] Depending on other optional features of the recycling method taken alone or in combination: - a plurality of packaged sets are deposited in a package, and at least one member for separating the package and the sets separates the package from the sets; - a plurality of packages packaged in at least one outer wrapping are deposited, and at least one member for separating the outer wrapping, the packages and the sets separates the outer wrapping, the packages and the sets; - the outer wrapping and the package(s) are collected; - the sets removed from the package thereof are transferred to a member for separating the lid and the main body of each set; - the lid and the main body are separated by vibration; - a sorting of the lid and of the main body is carried out; - when the main body is gripped, a check of the absence of the lid, and a removal of the lid is carried out in the event of detection of the presence thereof; - mechanical routing is carried out by moving a gripping member around an immobile mechanical routing means. Brief description of the figures

[0016] The invention will be better understood upon reading the following description given solely by way of example and made with reference to the appended drawings wherein:

[0017] [Fig. 1] is a first perspective view of a recycling device according to the invention. 2023388524  09 Jun 2025

[0018] [Fig. 2] is a second perspective view of a recycling device according to the invention.

[0019] [Fig. 3] is a first side view of the recycling device according to the invention.

[0020] [Fig. 4] is a second side view of the recycling device according to the invention.

[0021] [Fig. 5] is a third side view of the recycling device according to the invention.

[0022] [Fig. 6] is a top view of the recycling device according to the invention.

[0023] [Fig. 7] is a schematic representation of the method according to the invention. Detailed description

[0024] Reference is now made to Figure 1, an example of a recycling device 2 according to the invention. In the following example, an option for recycling Petri dishes, each comprising a main body filled with agar and a lid, is described. However, the recycling device (and the associated method) may not be limited to recycling Petri dishes, but may be used for recycling any set composed of a content and of a container, the container comprising a main body and a lid covering an opening of the main body allowing access to the content.

[0025] The recycling device 2 first comprises at least one zone for loading Petri dishes, a first loading zone 4 and a second loading zone 6 in the example described.

[0026] The first loading zone 4 makes it possible to load the Petri dishes loosely. In other words, the latter, devoid of any package, are placed in the recycling device 2, in an opening 8 in the illustrated example.

[0027] The second loading zone 6 is a zone for loading a plurality of packaged sets in a package, and at least one member for separating the package and the sets. As explained above, this makes it possible to recycle the Petri dishes without needing to remove them from the package thereof. The package may for example be a plastic film surrounding a stack of Petri dishes.

[0028] In the illustrated example, it is even possible that the second loading zone 6 is a zone for loading one or more outer wrappings accommodating a plurality of packages, each package comprising a plurality of Petri dishes. Figure 1, among others, also illustrates a door 7 making such loading possible. This reinforces the possibility of loading elements to be recycled without pre-preparation. It is even possible to place, at the second loading zone 6, a pallet comprising a plurality of boxes (i.e. the outer wrappings), each box comprising a plurality of sets of Petri dishes, each set being wrapped in a plastic film (i.e. the package). 2023388524  09 Jun 2025

[0029] A first robotic arm 10 may be placed at the second loading zone 6. This first robotic arm 10 may comprise means for cutting the outer wrapping and / or packages and means for removing the outer wrapping and / or packages. The first robotic arm 10 may grasp a box, for example via a suction cup gripper. In the case of the presence of a plurality of boxes at the second loading zone 6, a first detection cell makes it possible to check the presence of boxes and determine the location thereof in order to grip them at the correct height.

[0030] The first robotic arm 10 may, in this case, deposit the box at an unpacking station. It comprises at least one cutting tool, for example a cutting blade, making it possible to open the box. It may also comprise handling fingers making it possible to open the box by deforming and moving the flaps. The outer wrapping(s), here the boxes, may then be moved, by the robotic arm or by another means, to a collection receptacle dedicated to the outer wrapping 30 (a chute for transferring the boxes may be provided, as can be seen in the figures).

[0031] Using a clamp carried by the gripper thereof, the first robotic arm 10 can extract the packages comprising the Petri dishes to place them on a tiltable plate 12 forming a horizontal placement of the packages. The cutting tool may make it possible to open the packages. Actuators, for example, urethane rollers, can release the Petri dishes and drive the packages towards a dedicated collection receptacle.

[0032] Finally, the unpacked Petri dishes are sent, in the example by tilting the tiltable plate 12, to the member for separating the lid and the main body.

[0033] The member for separating the lid and the main body may for example be formed by a vibrating hopper 14. Therefore, this makes easy and grouped separation of the lids and main bodies possible by vibration of the vibrating hopper 14 impacting the Petri dishes (which are unloaded and channelled).

[0034] At least one first conveyor 16 for transferring the sets, here Petri dishes, may be placed following the vibrating hopper 14 to transfer the latter sets from the member for separating the lid and the main body of the set to the member for gripping the main body or bodies.

[0035] The first conveyor 16 may comprise means for sorting the lid and the main body. This makes it possible to sort the lids without passing the latter to the member for gripping the main body. In other words, this makes it possible to separate the main body and the lid of each 2023388524  09 Jun 2025 Petri dish, both on the same conveyor, in order to direct the main body towards the gripping member and the lid towards a first collection receptacle 18.

[0036] It is also possible to provide that the first conveyor 16 is a vibrating conveyor, so as to promote the separation of the lid and the main body of each Petri dish. In addition, using a vibrating conveyor makes it possible to promote separation of the lid and of the main body, in particular by separating according to size and weight.

[0037] The Petri dishes unpacked by the first robotic arm can be sent, by tilting the tiltable plate 12, to the vibrating hopper 14 or, as can be seen in the figures, to a transfer chute 20, which returns them to the conveyor 16 after the vibrating hopper 14.

[0038] The recycling device 2 further comprises at least one member for gripping the main body, here two second robotic arms 22 configured to place the main body so as to place the opening downwards. In the example illustrated in the figures, the main bodies of the Petri dishes are directed towards gripping zones 24 from which the second robotic arms 22 grasp them. The second robotic arms are conventionally robotic arms with six degrees of freedom.

[0039] Each of the second robotic arms 22 may comprise at least one suction cup for gripping the main body. This makes it possible to easily grasp the main body to place it at an area of removal of the content, here the agar. They may also comprise means for detecting the presence of a lid. This makes it possible to ensure that the lid has come off before emptying the main body. Therefore, and after passing through the vibrating hopper 14 and / or the first vibrating conveyor 16, a final check makes it possible to avoid incorrect processing of a Petri dish still comprising a lid. The detection means may also make it possible to detect the correct positioning (i.e. opening downwards) of the main body. For example, this may be one or more capacitive sensors.

[0040] In the case of the presence of a lid, the recycling device comprises means for removing the lid. For example, the second robotic arms 22 may have access to a lid removal surface comprising at least one suction cup. This suction cup makes it possible to grasp the lid and thus disengage it from the main body. The lid retained by the suction cup is then sent to the first collection receptacle 18. In the illustrated example, the first conveyor 16 makes it possible to send the lids to the first collection receptacle 18. Alternatively, another conveyor could be provided for this. 2023388524  09 Jun 2025

[0041] The recycling device 2 further comprises at least one means for mechanically routing the content. This routing means may for example be formed by a routing blade or any other similar means. Advantageously, this is an element that is not likely to damage the main body, in particular, and in the case of Petri dishes, to contaminate the agar with plastic material of the main body.

[0042] Advantageously, the mechanical routing means is placed above a receptacle for collecting the content, here two second receptacles 26. The “top-to-bottom” routing makes it possible to easily remove the content, here the agar, which is extracted by gravity from the main body after routing removing the adhesions between the content and the main body of the container. The placement above a collection receptacle, in this case the second collection receptacles 26, makes it possible to collect the content without additional effort. A collection chute 28 may be provided in order to facilitate the transfer to the second collection receptacles 26.

[0043] Advantageously, the mechanical routing means is immobile, the gripping member being configured to move the main body relative to the mechanical routing means. The use of the gripping member is therefore optimised without complicating the location of the mechanical routing means. In other words, and in particular in the case of the use of robotic arms as a gripping member, the use of an immobile routing means makes easy routing possible by optimising movable means forming the gripping member(s), without complicating the recycling device. It is possible to achieve a processing time of between 2 and 4 seconds per Petri dish, for a cycle time (entire passage in the recycler 2) of less than 1 minute and 30 seconds. Alternatively, the routing means could also be movable, carried or not by the second robotic arms 22.

[0044] After emptying the content, the main bodies can be placed back on the first conveyor 16 to be collected at the first collection receptacle 18. As explained above, a second conveyor could be provided for this purpose. In the example of Petri dishes, the lid and the main body are formed from the same material, typically crystalline polystyrene, hence a potential collection to a single collection receptacle. Of course, and in the case of a container comprising a lid and a main body that cannot be recycled together, different collection receptacles may be provided for the lid and the main body.

[0045] The lids and main bodies of the Petri dishes, emptied of the content thereof, are then processed, for example ground. For example, it may be envisaged to place a grinder at 2023388524  09 Jun 2025 the outlet of the recycling device 2 for rapid grinding of the lids and main bodies, which also has the advantage of optimising the loading of a container comprising the Petri dish shreds.

[0046] The recycling device is advantageously movable. For example, it may be formed of a plurality of movable modules (unpacking / depalletising zone, gripping zones, zone for separating the lids and main bodies, etc.), placed on at least one mechanically welded frame, and surrounded by movable walls, for example mesh walls, with controlled access zones (for operator safety), physical and optical protections and guards, and loading and collection zones. The set can be reversibly fixed to the floor (for example by bolting) before use. Fast connection devices, of the industrial connector type, are advantageously provided for a quick connection of the recycling device 2, especially in the case where the latter is movable.

[0047] A human-machine interface device may be provided to make it possible to start the recycling device, control the operation thereof and stop it. One or more synoptic views may be visible via the human-machine interface to know the general state of the recycling device and / or the state of each part of the latter.

[0048] All of the movable means described above are movable thanks to electrical and / or pneumatic means.

[0049] With regard to the recycling method according to the invention, and in support of Figure 7, the latter comprises the following steps of: - Depositing at least one set in a loading zone 4 or 6 of the set. Steps 32 and 34 illustrate loose loading and packaged loading of the container / content sets, respectively. - In the case of packaged loading, according to the steps 36 and 38, the sets are unpacked then the package(s) (step 36) or even the outer wrapping(s) (step 38) are collected, for example using the first robotic arm 10 as described previously. The unpacked sets are then sent to the common circuit for sorting all of the sets (transfer indicated by arrow 40). - The sets loaded loosely undergo a separation of the lids and main bodies (step 42), for example thanks to the vibrating hopper 14, and are sent to the first conveyor 16 where they find the unpacked sets (step 44). - Each main body is emptied of the content thereof as described above, for example using the second robotic arms 22 and the routing means (step 46). - Finally, the main bodies and the lids are sorted, in the example described by being collected in at least one same collection receptacle, for example the first collection receptacle 18 (step 48), and the content, in the example described, the agar, is 2023388524  09 Jun 2025 collected in at least one dedicated collection receptacle, here the second collection receptacles 26.

[0050] Modifications and variations as would be apparent to a skilled addressee are deemed to be within the scope of the present invention. As used herein, unless the context requires otherwise, the verb ‘to comprise’ in its various tenses is used in an ‘inclusive’ sense: that is, its use implies the inclusion of a stated integer or group of integers, but does not imply the exclusion of any other integer. List of references 2: recycling device 4: first loading zone 6: second loading zone 8: opening 10: first robotic arm 12: tiltable plate 14: vibrating hopper 16: first conveyor 18: first collection receptacle 20: transfer chute 22: second robotic arms 24: gripping zones 26: second collection receptacles 28: collection chute 30: collection receptacle dedicated to outer wrapping 32: loading of loose sets 34: loading of packaged sets 36: collection of the package(s) 38: collection of the outer wrapping(s) 40: transfer of unpacked sets 42: separation of lids and main bodies 44: handling of sets by the first conveyor 46: emptying of main bodies 48: collection of lids and main bodies 50: content collection

Claims

1. Device for robotic recycling (2) of at least one set composed of a content and of a container, the container comprising a main body and a lid covering an opening of the main body allowing access to the content, the recycling device comprising:- at least one loading zone (4, 6) of the set,- at least one member (14, 16) for separating the lid and the main body,- at least one member (22) for gripping the main body configured to place the main body so as to place the opening downwards,- at least one means for mechanically routing the content, and- a plurality of receptacles (18, 26) for collecting the container and the content.

2. Recycling device (2) according to claim 1, wherein the loading zone zone (6) is configured a plurality of sets packaged in at least one package, and wherein the recycling device (2) comprises at least one member for separating the package and the sets.

3. Recycling device (2) according to claim 2, wherein the loading zone (6) is configured to accommodate a plurality of packages packaged in at least one outer wrapping, and wherein the recycling device (2) comprises at least one member (10) for separating the outer wrapping, the packages and the sets.

4. Recycling device (2) according to any one of claims 2 and 3, wherein the member (10) for separating the package and the sets, or the outer wrapping, the packages and the sets, comprises at least one first robotic arm (10) comprising means for cutting the outer wrapping and / or the packages and means for removing the outer wrapping and / or the packages.

5. Recycling device (2) according to any one of claims 2 to 4, wherein the member (10) for separating the package and the sets, or the outer wrapping, the packages and the sets, comprises at least one means for collecting the outer wrapping and the package(s).2023388524   18 May 20266. Recycling device (2) according to any one of claims 2 to 5, comprising at least one member for transferring the sets, obtained from a separation of the package by the member for separating the package and the sets, to the member (14) for separating the lid and the main body of each set.

7. Recycling device (2) according to any one of the preceding claims, wherein the member for separating the lid and the main body of the set is at least partially formed by at least one vibrating hopper (14).

8. Recycling device (2) according to any one of the preceding claims, comprising at least one first conveyor (16) for transferring the sets, from the member (14) for separating the lid and the main body of the set to the member (22) for gripping the main body.

9. Recycling device (2) according to claim 8, wherein the first conveyor (16) comprises means for sorting the lid and the main body.

10. Recycling device (2) according to any one of the preceding claims, wherein the member (22) for gripping the main body comprises at least one second robotic arm (22) comprising at least one suction cup for gripping the main body.

11. Recycling device (2) according to any one of the preceding claims, wherein the member (22) for gripping the main body comprises means for detecting the presence of a lid and / or the positioning of the main body.

12. Recycling device (2) according to claim 11, comprising means for removing the lid in the event of detection of the presence of the lid.

13. Recycling device (2) according to any one of the preceding claims, wherein the mechanical routing means is placed above a receptacle for collecting (26) the content.

14. Recycling device (2) according to any one of the preceding claims, wherein the mechanical routing means is immobile, the gripping member (22) being configured to move the main body relative to the mechanical routing means.2023388524   18 May 202615. Method for robotic recycling of at least one set composed of a content and of a container, the container comprising a main body having an opening allowing access to the content and a lid covering said opening, the method comprising the following steps of:- depositing at least one set in a loading zone (4, 6) of the set,- separating the lid and the main body,- gripping the main body and placing the main body so as to place the opening downwards,- mechanically routing the content, and- placing the container and the content in different collection receptacles.

16. Recycling method according to claim 15, wherein a plurality of packaged sets are deposited in a package, and at least one member (10) for separating the package and the sets separates the package from the sets.

17. Recycling method (2) according to any one of claims 15 and 16, wherein a plurality of packages packaged in at least one outer wrapping are deposited, and at least one member (10) for separating the outer wrapping, the packages and the sets separates the outer wrapping, the packages and the sets.

18. Recycling method (2) according to any one of claims 15 to 17, wherein the lid and the main body are sorted.

19. Recycling method (2) according to any one of claims 15 to 18, wherein, when gripping the main body, the absence of the lid is verified, and the lid is removed in the event of detection of the presence thereof.

20. Recycling method (2) according to any one of claims 15 to 19, wherein the mechanical routing is carried out by moving a gripping member (22) around an immobile mechanical routing means.

Images