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

robotic recycling cell

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

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

[0003] Let's take the example of mass-prepared Petri dishes. Petri dishes, traditionally made of crystal polystyrene, are filled with agar, typically based on agar-agar. This is a nutrient medium intended to enable the creation of cell cultures, among other things.

[0004] Sometimes, during the manufacturing of pre-filled Petri dishes, some of them are 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 (Petri dishes) and the contents (agar). The specific case of Petri dishes is interesting because agar has a high methanogenic power, hence a particular interest in reusing it. However, generally speaking and for obvious reasons, the separation of a container and contents of different natures is interesting for any recycling.

[0006] For example, there is a possibility of separating the container by rinsing to remove the contents, but this leads to contaminating the contents and adding a water treatment system, which is not desirable when the contents, like agar, are valuable elements, or even have high added value.

[0007] Document CN 217 172 190 U discloses a robotic recycling device for an assembly composed of a content and a container comprising a loading area for the assembly, means for gripping and handling the container and bins for collecting the content and the container.

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

[0009] To this end, the invention relates to a robotic recycling device for at least one assembly composed of a content and a container, the container comprising a main body and a cover covering an opening in the main body allowing access to the content, the recycling device comprising: at least one loading zone for the assembly, at least one member for separating the cover 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 trimming the content, and several bins for collecting the container and the content.

[0010] This results in a robotic device that allows easy loading of assemblies consisting of a content and a container (main body and lid), without the need for prior separation of the lid and the main body, which allows rapid loading of the assemblies.

[0011] In addition, a "head down" placement of the container (i.e. with the container opening facing downwards), combined with mechanical trimming of the contents, allows for simple and optimal separation of the contents and the container, allowing emptying of almost all or even all of the contents by gravity, without contaminating the contents by the presence of container residue in the contents.

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

[0013] Depending on other optional features of the recycling device taken alone or in combination:

[0014] - the recycling device comprises a loading area for several assemblies packaged in at least one packaging, and at least one member for separating the packaging and the assemblies. Thus, it is also possible to load the recycling device with packaged assemblies, for example filmed, without the need to first remove the film;

[0015] - the recycling device comprises a loading area configured to accommodate several packages packaged in at least one overpack, and at least one member for separating the overpack, the packages and the assemblies. Thus, it is also possible to load the recycling device with packaged and even overpacked assemblies, for example in a cardboard box, without the need to first remove the packaging and the overpack;

[0016] - the member for separating the packaging and the assemblies, or the overpackaging, the packaging and the assemblies, comprises at least one first robotic arm comprising means for cutting the overpackaging and / or the packaging and means for removing the overpackaging and / or the packaging;

[0017] - the first robotic arm comprises at least one blade for cutting the overpackaging and / or the packaging, fingers for handling the overpackaging, and rollers for removing the packaging;

[0018] - the device for separating the packaging and the assemblies, or the overpackaging, the packaging and the assemblies, comprises at least one means for collecting the overpackaging and the packaging(s). The overpackaging and the packaging are thus sorted;

[0019] - the recycling device comprises at least one member for transferring the unpacked assemblies to the member for separating the cover and the main body of each assembly. This therefore facilitates a grouped transfer of the assemblies for further recycling;

[0020] - the transfer member for the unpacked assemblies to the member for separating the cover and the main body of each assembly comprises at least one tilting tray;

[0021] - the member for separating the cover and the main body of the assembly is at least partly formed by at least one vibrating hopper. This results in an easy and grouped separation of the covers and the main bodies;

[0022] - the recycling device comprises at least a first conveyor for transferring the assembly, the separating member of the cover and the main body of the assembly to the gripping member of the main body;

[0023] - the first conveyor comprises means for sorting the lid and the main body. This allows sorting of the lids without the latter passing through the gripping member of the main body;

[0024] - the gripping member of the main body comprises at least one second robotic arm comprising at least one suction cup for gripping the main body;

[0025] - the gripping member of the main body comprises means for detecting the presence of a cover and / or the positioning of the main body. This makes it possible to ensure that the cover has been detached before the contents are cut out;

[0026] - the recycling device includes means for removing the cover if the presence of the cover is detected;

[0027] - the mechanical clipping means is placed above a contents collection bin. This allows for quick and easy collection of the contents;

[0028] - the mechanical trimming means is stationary, the gripping member being configured to move the main body relative to the mechanical trimming means. The use of the gripping member is therefore optimized without complicating the installation of the mechanical trimming means;

[0029] - the recycling device comprises at least a second conveyor for transporting the emptied main body to a main body collection bin; and

[0030] - the recycling device is mobile.

[0031] The invention also relates to a method for the robotic recycling of at least one assembly composed of a content and a container, the container comprising a main body and a cover with an opening in the main body allowing access to the content, the pro:

[0032] - depositing at least one assembly in a loading area for the assembly,

[0033] - separation of the cover and the main body,

[0034] - gripping the main body and placing the main body so as to place the opening downwards,

[0035] - mechanical clipping of the content, and

[0036] - placement of the container and contents in different collection bins.

[0037] Depending on other optional features of the recycling process taken alone or in combination:

[0038] - several packaged sets are placed in a package, and at least one member for separating the package and the sets separates the package from the sets;

[0039] - several packages are placed in at least one overpack, and at least one separating member for the overpack, the packages and the assemblies separates the overpack, the packages and the assemblies;

[0040] - we collect the over-packaging and the packaging(s);

[0041] - the assemblies removed from their packaging are transferred to a device for separating the cover and the main body of each assembly;

[0042] - the cover and the main body are separated by vibration;

[0043] - the cover and the main body are sorted;

[0044] - when gripping the main body, a check is carried out to ensure that the cover is not present, and the cover is removed if its presence is detected;

[0045] - mechanical trimming is carried out by movement of a gripping member around a stationary mechanical trimming means. Brief description of the figures

[0046] The invention will be better understood on reading the following description, given solely by way of example and with reference to the appended drawings in which:

[0047] is a first perspective view of a recycling device according to the invention.

[0048] is a second perspective view of a recycling device according to the invention.

[0049] is a first side view of the recycling device according to the invention.

[0050] is a second side view of the recycling device according to the invention.

[0051] is a third side view of the recycling device according to the invention.

[0052] is a top view of the recycling device according to the invention.

[0053] is a schematic representation of the method according to the invention. Detailed description

[0054] Reference is now made to an example of a recycling device 2 according to the invention. In the following example, a possibility of recycling Petri dishes, each comprising a main body filled with agar and a lid, is described. However, the recycling device (and the associated method) cannot be limited to the recycling of Petri dishes, but can be used for the recycling of any assembly composed of a content and a container, the container comprising a main body and a lid covering an opening of the main body allowing access to the contents.

[0055] The recycling device 2 firstly comprises at least one Petri dish loading zone, a first loading zone 4 and a second loading zone 6 in the example described.

[0056] The first loading area 4 allows bulk loading of Petri dishes. In other words, the latter, devoid of any packaging, are placed in the recycling device 2, in an opening 8 in the example illustrated.

[0057] The second loading area 6 is a loading area for several assemblies packaged in a packaging, and at least one member for separating the packaging and the assemblies. As explained above, this allows recycling of the Petri dishes without the need to remove them from their packaging. The packaging may, for example, be a plastic film surrounding a stack of Petri dishes.

[0058] In the illustrated example, it is even possible for the second loading zone 6 to be a loading zone for one or more overpacks accommodating several packages, each package comprising several Petri dishes. , among other things, also illustrates a door 7 allowing such loading. This reinforces a possibility of loading elements to be recycled without upstream preparation. It is even possible to place, at the level of the second loading zone 6, a pallet comprising several boxes (i.e. the overpacks), each box comprising several sets of Petri dishes, each set being wrapped in a plastic film (i.e. the packaging).

[0059] 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 overpackaging and / or packaging and means for removing the overpackaging and / or packaging. The first robotic arm 10 may grip a carton, for example by means of a suction cup gripper. In the case of the presence of several cartons at the second loading zone 6, a first detection cell makes it possible to check the presence of cartons and to determine their location in order to grip them at the correct height.

[0060] The first robotic arm 10 can, in this case, place the carton at an unpacking station. It comprises at least one cutting tool, for example a cutting blade, for opening the carton. It can also comprise manipulation fingers for opening the carton by deforming and moving the flaps. The overpack(s), here the cartons, can then be moved, by the robotic arm or by another means, to a collection bin dedicated to the overpack 30 (a chute for transferring the cartons can be provided, as can be seen in the figures).

[0061] Using a gripper carried by its gripper, the first robotic arm 10 can extract the packages comprising the Petri dishes to place them on a tilting tray 12 forming a horizontal positioning of the packages. The cutting tool can be used to open the packages. Actuators, for example urethane rollers, can release the Petri dishes and drive the packages towards a dedicated collection bin.

[0062] Finally, the unpacked Petri dishes are sent, in the example by tilting the tilting tray 12, towards the member for separating the cover and the main body.

[0063] The member for separating the lid and the main body may, for example, be formed by a vibrating hopper 14. This therefore allows easy and grouped separation of the lids and the main bodies by vibration of the vibrating hopper 14 impacting the Petri dishes (which are unstripped and channeled).

[0064] At least one first conveyor 16 for transferring the assemblies, here Petri dishes, can be placed after the vibrating hopper 14 to transfer these latter assemblies from the member for separating the cover and the main body of the assembly to the member for gripping the main body(ies).

[0065] The first conveyor 16 may comprise means for sorting the lid and the main body. This allows sorting of the lids without the latter passing through the gripping member of the main body. In other words, this makes it possible to separate the main body and the lid of each 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 bin 18.

[0066] 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, the use of a vibrating conveyor makes it possible to promote a separation of the lid and the main body, in particular thanks to a separation according to size and mass.

[0067] The Petri dishes unpacked by the first robotic arm can be sent, by tilting the tilting tray 12, to the vibrating hopper 14 or, as can be seen in the figures, to a transfer chute 20, which brings them back onto the conveyor 16 after the vibrating hopper 14.

[0068] The recycling device 2 further comprises at least one member for gripping the main body, here two second robotic arms 22 configured to position 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 grip them. The second robotic arms are conventionally robotic arms with six degrees of freedom.

[0069] Each of the second robotic arms 22 may comprise at least one suction cup for gripping the main body. This makes it easy to grip the main body to place it at a content removal zone, 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 been properly detached 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. downward opening) of the main body. This may for example be one or more capacitive sensors.

[0070] If a lid is present, 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 grip the lid and thus disengage it from the main body. The lid held by the suction cup is subsequently sent to the first collection bin 18. In the example illustrated, the first conveyor 16 makes it possible to send the lids to the first collection bin 18. Alternatively, another conveyor could be provided for this.

[0071] The recycling device 2 further comprises at least one means for mechanically trimming the contents. This trimming means may, for example, be formed by a trimming blade or any other similar means. Advantageously, it is an element which does not risk damaging the main body, in particular, and in the case of Petri dishes, contaminating the agar with plastic material from the main body.

[0072] Advantageously, the mechanical trimming means is placed above a collection tray for the contents, here two second collection trays 26. The “head down” trimming makes it possible to easily remove the contents, here the agar, which is extracted by gravity from the main body after trimming removing the adhesions between the contents and the main body of the container. The placement above a collection tray, here the second collection trays 26, makes it possible to collect the contents without additional effort. A collection chute 28 may be provided to facilitate the transfer to the second collection trays 26.

[0073] Advantageously, the mechanical trimming means is stationary, the gripping member being configured to move the main body relative to the mechanical trimming means. The use of the gripping member is therefore optimized without complicating the installation of the mechanical trimming means. In other words, and in particular in the case of using robotic arms as a gripping member, the use of a stationary trimming means allows easy trimming by optimizing mobile 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 (the entire passage through the recycling device 2) of less than 1 minute and 30 seconds. Alternatively, the trimming means could also be mobile, carried or not by the second robotic arms 22.

[0074] After emptying the contents, the main bodies can be placed back on the first conveyor 16 to be collected at the first collection bin 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 crystal polystyrene, hence a potential collection towards a single collection bin. Obviously, and in the case of a container comprising a lid and a main body which cannot be recycled together, different collection bins can be provided for the lid and the main body.

[0075] The lids and main bodies of the Petri dishes, emptied of their contents, are then processed, for example crushed. For example, it is possible to consider placing a crusher at the outlet of the recycling device 2 for rapid crushing of the lids and main bodies, which also has the advantage of optimizing the loading of the container containing the crushed Petri dishes.

[0076] The recycling device is advantageously mobile. It can, for example, be formed of several mobile modules (unpacking / depalletizing area, gripping areas, area for separating the lids and main bodies, etc.), placed on at least one mechanically welded frame, and surrounded by mobile walls, for example mesh walls, with controlled access areas (for the safety of the operators), casings and physical and optical protections, and loading and collection areas. The assembly can be fixed to the ground in a reversible manner (for example by bolting) before use. Quick connection devices, of the industrial connector type, are advantageously provided for quick connection of the recycling device 2, especially in the case where the latter is mobile.

[0077] A human-machine interface device may be provided to enable the recycling device to be started, its operation to be controlled and its operation to be stopped. One or more synoptic views may be visible via the human-machine interface to determine the general status of the recycling device and / or the status of each part thereof.

[0078] All of the mobile means described above are mobile using electrical and / or pneumatic means.

[0079] Concerning the recycling method according to the invention, and in support of the, the latter comprises the following steps:Depositing at least one assembly in a loading zone 4 or 6 of the assembly. Steps 32 and 34 respectively illustrate a bulk loading and a packaged loading of the container / content assemblies.In the case of a packaged loading, the assemblies are unpacked according to steps 36 and 38, then the packaging(s) are collected (step 36), or even the overpack(s) (step 38), for example using the first robotic arm 10 as described previously. The unpacked assemblies are then sent to the common sorting circuit for all assemblies (transfer shown by arrow 40). The assemblies loaded in bulk undergo separation of the covers and main bodies (steps 42), for example using the vibrating hopper 14, and are sent to the first conveyor 16 where they find the unpacked assemblies (step 44).Each main body is emptied of its contents as described above, for example using the second robotic arms 22 and the clipping means(s) (step 46). Finally, the main bodies and the lids are sorted, in the example described by being collected in at least one same collection bin, for example the first collection bin 18 (step 48), and the contents, in the example described the agar, are collected in at least one dedicated collection bin, here the second collection bins 26. List of references

[0080] 2: recycling device

[0081] 4: first loading zone

[0082] 6: second loading area

[0083] 8: opening

[0084] 10: first robotic arm

[0085] 12: tilting tray

[0086] 14: vibrating hopper

[0087] 16: first conveyor

[0088] 18: first collection bin

[0089] 20: transfer chute

[0090] 22: second robotic arms

[0091] 24: gripping zones

[0092] 26: second collection bins

[0093] 28: collection chute

[0094] 30: collection bin dedicated to over-packaging

[0095] 32: Loading bulk sets

[0096] 34: loading of packaged sets

[0097] 36: collection of the packaging(s)

[0098] 38: collection of overpackaging(s)

[0099] 40: transfer of unpacked sets

[0100] 42: separation of covers and main bodies

[0101] 44: collection of sets by the first conveyor

[0102] 46: emptying of the main bodies

[0103] 48: collection of covers and main bodies

[0104] 50: Content collection

Claims

Robotic recycling device (2) for at least one assembly 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 assembly, at least one separating member (14, 16) of the cover and the main body, at least one gripping member (22) of the main body configured to position the main body so as to place the opening downwards, at least one means of mechanically trimming the content, and several collection bins (18, 26) of the container and the content. Recycling device (2) according to claim 1, comprising a loading zone (6) for several assemblies packaged in at least one packaging, and at least one member for separating the packaging and the assemblies. Recycling device (2) according to any one of the preceding claims, comprising a loading zone (6) configured to accommodate several packages packaged in at least one overpack, and at least one separation member (10) for the overpack, the packages and the assemblies. Recycling device (2) according to any one of claims 2 and 3, in which the separating member (10) of the packaging and the assemblies, or of the over-packaging, of the packaging and the assemblies, comprises at least one first robotic arm (10) comprising means for cutting the over-packaging and / or the packaging and means for removing the over-packaging and / or the packaging. Recycling device (2) according to any one of claims 2 to 4, in which the separating member (10) of the packaging and the assemblies, or of the overpackaging, of the packagings and the assemblies, comprises at least one means for collecting the overpackaging and the packaging(s). Recycling device (2) according to any one of claims 2 to 5, comprising at least one member for transferring the unpacked assemblies to the member (14) for separating the cover and the main body of each assembly. Recycling device (2) according to any one of the preceding claims, in which the member for separating the cover and the main body of the assembly is at least partly formed by at least one vibrating hopper (14). Recycling device (2) according to any one of the preceding claims, comprising at least a first conveyor (16) for transferring the assemblies, the separating member (14) of the cover and the main body of the assembly to the gripping member (22) of the main body. Recycling device (2) according to claim 8, wherein the first conveyor (16) comprises means for sorting the cover and the main body. Recycling device (2) according to any one of the preceding claims, in which the gripping member (22) of the main body comprises at least one second robotic arm (22) comprising at least one suction cup for gripping the main body. Recycling device (2) according to any one of the preceding claims, in which the gripping member (22) of the main body comprises means for detecting the presence of a cover and / or the positioning of the main body. Recycling device (2) according to claim 11, comprising means for removing the cover in the event of detection of the presence of the cover. Recycling device (2) according to any one of the preceding claims, in which the mechanical clipping means is placed above a collection bin (26) for the contents. A recycling device (2) according to any preceding claim, wherein the mechanical trimming means is stationary, the gripping member (22) being configured to move the main body relative to the mechanical trimming means. A method for the robotic recycling of at least one assembly composed of a content and a container, the container comprising a main body and a cover with an opening in the main body allowing access to the contents, the method comprising the following steps: - depositing at least one assembly in a loading zone (4, 6) of the assembly, - separating the cover and the main body, - gripping the main body and placing the main body so as to place the opening downwards, - mechanically trimming the contents, and - placing the container and the contents in different collection bins. Recycling method according to claim 15, in which several packaged assemblies are placed in a packaging, and at least one separating member (10) of the packaging and the assemblies separates the packaging from the assemblies. Recycling method (2) according to any one of claims 15 and 16, in which several packages are placed in at least one overpack, and at least one separation member (10) for the overpack, the packages and the assemblies separates the overpack, the packages and the assemblies. Recycling method (2) according to any one of claims 16 and 17, in which the overpackaging and the packaging(s) are collected. Recycling method (2) according to any one of claims 16 to 18, in which the assemblies removed from their packaging are transferred to a separation member (14) of the cover and the main body of each assembly. Recycling method (2) according to any one of claims 15 to 19, in which the lid and the main body are sorted. Recycling method (2) according to any one of claims 15 to 20, in which, when gripping the main body, a check is carried out to ensure that the cover is absent, and the cover is removed if its presence is detected. Recycling method (2) according to any one of claims 15 to 21, in which the mechanical trimming is carried out by movement of a gripping member (22) around a stationary mechanical trimming means.

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