robotic recycling cell
The robotic recycling device efficiently separates and recycles Petri dishes by placing them 'head down' and using mechanical trimming, addressing contamination issues and improving separation speed and efficiency.
Patent Information
- Application Number
- FR2022012778
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2022-12-05
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2042-12-05
AI Technical Summary
Existing recycling methods contaminate valuable contents like agar in Petri dishes during separation from their containers due to rinsing processes, and lack efficiency and speed in separating containers and contents effectively.
A robotic recycling device with a loading zone, gripping member, and mechanical trimming means separates containers and contents efficiently by placing them 'head down' and using robotic arms and vibrating hoppers to facilitate easy separation and sorting into different bins, allowing for quick and contamination-free recycling.
The device enables fast and efficient separation of contents and containers, achieving nearly complete emptying by gravity without contamination, with cycle times under 1 minute 30 seconds, and optimizes the recycling process for packaged and overpackaged items.
Smart Images
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Abstract
Description
Title of the invention: robotic recycling cell
[0001] The invention relates to recycling devices and methods, and more particularly to recycling devices and methods for a container / content assembly.
[0002] With a view to optimizing 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] We will take the example of Petri dishes prepared in series. Petri dishes, conventionally made of crystal polystyrene, are filled with an agar, typically agar-agar based. This is a nutrient medium intended to allow, among other things, the production of cell cultures.
[0004] During the manufacture of pre-filled Petri dishes, some may be discarded, for example because they cannot be marketed / used. Recycling them then becomes relevant.
[0005] To achieve this, it is advantageous to consider separating the container (the Petri dishes) from the contents (the agar). The specific case of Petri dishes is interesting because the agar has a high methanogenic potential, hence its particular interest in recycling. However, and more generally, and for obvious reasons, separating a container from its contents is beneficial for any recycling process.
[0006] For example, we know of a possibility of separation by rinsing the container to remove the contents, but this leads to contamination of the contents, which is not desirable when the contents are, like agar, a valuable element, or even one with high added value.
[0007] The invention aims to provide an energy-efficient recycling device, enabling optimal separation of contents from a container, both in terms of separation speed and separation efficiency, while ultimately obtaining uncontaminated contents and container.
[0008] To this end, the invention relates to a robotic recycling device for at least one assembly consisting of a content and a container, the container comprising a main body and a lid 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 separating element for the lid and the main body, - at least one grasping organ of the main body configured to place the main body so as to place the opening downwards, - at least one means of mechanically delineating the contents, and - several collection trays for the container and the contents.
[0009] Thus, a robotic device is obtained allowing for 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 for rapid loading of the assemblies.
[0010] In addition, a "head down" placement of the container (i.e. with the opening of the container facing downwards), combined with a mechanical decoupling of the contents, allows for a simple and optimal separation of the contents and the container, allowing almost all or even all of the contents to be emptied by gravity, without contaminating the contents by the presence of container residue in the contents.
[0011] Finally, the different elements are separated into different bins for separate recycling.
[0012] Depending on other optional features of the recycling device taken alone or in combination:
[0013] - the recycling device includes a loading area for several sets packaged in at least one container, and at least one device for separating the container from the assemblies. Thus, it is also possible to load the recycling device with packaged assemblies, for example wrapped in film, without the prior need to remove the film;
[0014] - the recycling device includes a loading area configured for ac picking up several packages enclosed in at least one overwrap, and at least one separating device for the overwrap, the packages and the sets. Thus, it is also possible to load the recycling device with packaged and even overwrapped sets, for example in a carton, without the prior need to remove the packaging and overwrap;
[0015] - the separating device of the packaging and the assemblies, or of the overpack, of the packaging and assemblies, includes at least one first robotic arm comprising means for cutting the overwrap and / or packaging and means for removing the overwrap and / or packaging;
[0016] - the first robotic arm includes at least one overwrap cutting blade and / or packaging, overwrap handling fingers, and packaging removal rollers;
[0017] - the separating device of the packaging and the assemblies, or of the overpack, of the packaging and assemblies, includes at least one means of collecting overpackaging and packaging. This allows for the sorting of overpackaging and packaging;
[0018] - the recycling device includes at least one assembly transfer element unpacked towards the separating mechanism of the lid and the main body of each assembly. This facilitates a grouped transfer of the assemblies for the remainder of the recycling ;
[0019] - the transfer organ for unpacked assemblies to the separation organ lid and main body of each assembly includes at least one tilting tray;
[0020] - the separating element of the cover and the main body of the assembly is at less partly formed by at least one vibrating hopper. This results in easy and grouped separation of the lids and main bodies;
[0021] - the recycling device includes at least one first transfer conveyor the assembly, from the separating element of the lid and the main body of the assembly to the gripping element of the main body;
[0022] - the first conveyor includes means for sorting the lid and the body main. This allows for sorting of the lids without them passing through the gripping mechanism of the main body;
[0023] - the grasping organ of the main body comprises at least a second arm robotic including at least one suction cup for gripping the main body;
[0024] - the grasping organ of the main body includes means for detecting the presence of a lid and / or positioning of the main body. This ensures that the lid has been properly detached before the contents are cut out;
[0025] - the recycling device includes means for removing the lid in case of detection of the presence of the lid;
[0026] - the mechanical trimming means is placed above a collection tray of the content. This allows for quick and easy content collection;
[0027] - the mechanical trimming means is stationary, the gripping member being configured to move the main body relative to the mechanical trimming device. This optimizes the use of the gripping element without complicating the implementation of the mechanical trimming device;
[0028] - the recycling device includes at least one second conveyor transporting the emptied main body to a collection bin for the main body; and
[0029] - the recycling device is mobile.
[0030] The invention also relates to a robotic recycling method for at least one assembly consisting of a content and a container, the container comprising a main body and a lid with an opening in the main body allowing access to the content, the pro:
[0031] - depositing at least one assembly in an assembly loading area,
[0032] - separation of the cover and the main body,
[0033] - grasping the main body and positioning the main body so as to place the downward opening,
[0034] - mechanical clipping of the content, and
[0035] - placement of the container and the contents in different collection bins.
[0036] Depending on other optional features of the recycling process taken alone or in combination:
[0037] - several conditioned assemblies are placed in a package, and at least one The packaging and assembly separation device separates the packaging from the assemblies;
[0038] - several packages are placed in at least one overpack, and at less a separating device for the overwrap, the packages and the assemblies separates the overwrap, the packages and the assemblies;
[0039] - we collect the overpackaging and the packaging(s);
[0040] - the assemblies removed from their packaging are transferred to a separation device from lid and main body of each set;
[0041] - the lid and the main body are separated by vibration;
[0042] - a sorting of the lid and the main body is carried out;
[0043] - During the grasping of the main body, a check is carried out to ensure the absence of cover, and removal of the cover if its presence is detected;
[0044] - mechanical contouring is performed by movement of a gripping member around a stationary mechanical contouring device. Brief description of the figures
[0045] The invention will be better understood upon reading the following description, given solely by way of example and made with reference to the accompanying drawings in which:
[0046] [Fig-1] is a first perspective view of a recycling device according to the invention.
[0047] [Fig.2] is a second perspective view of a recycling device according to the invention.
[0048] [Fig.3] is a first side view of the recycling device according to the invention.
[0049] [Fig.4] is a second side view of the recycling device according to the invention.
[0050] [Fig.5] is a third side view of the recycling device according to the invention.
[0051] [Fig.6] is a top view of the recycling device according to the invention.
[0052] [Fig.7] is a schematic representation view of the process according to the invention. Detailed description
[0053] Reference is now made to [Fig. 1], an example of a recycling device 2 according to the invention. In the following example, a possibility 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) is not limited to recycling Petri dishes, but can be used for recycling any assembly consisting of a container and a main body, the container comprising a main body. and a lid covering an opening in the main body allowing access to the contents.
[0054] The recycling device 2 includes first of all at least one Petri dish loading zone, a first loading zone 4 and a second loading zone 6 in the example described.
[0055] The first loading zone 4 allows for the bulk loading of Petri dishes. In other words, these dishes, without any packaging, are placed in the recycling device 2, in an opening 8 in the illustrated example.
[0056] The second loading zone 6 is a loading zone for several assemblies packaged in a container, and includes at least one element for separating the container from the assemblies. As explained above, this allows for the recycling of Petri dishes without the need to remove them from their packaging. The packaging could, for example, be a plastic film surrounding a stack of Petri dishes.
[0057] In the illustrated example, it is even possible for the second loading area 6 to be a loading area for one or more overpacks accommodating several packages, each package containing several Petri dishes. Figure 1, among others, illustrates a door 7 allowing such loading. This reinforces the possibility of loading recyclable materials without prior preparation. It is even possible to place, at the level of the second loading area 6, a pallet containing several cartons (i.e., the overpacks), each carton containing several sets of Petri dishes, each set being wrapped in plastic film (i.e., the packaging).
[0058] A first robotic arm 10 can be positioned at the second loading zone 6. This first robotic arm 10 may include means for cutting the overwrap and / or packaging and means for removing the overwrap and / or packaging. The first robotic arm 10 can grip a carton, for example, by means of a suction cup gripper. If several cartons are present at the second loading zone 6, a first detection cell verifies the presence of cartons and determines their location in order to grasp them at the correct height.
[0059] The first robotic arm 10 can, in this case, place the carton at an unpacking station. It includes at least one cutting tool, for example a cutting blade, for opening the carton. It may also include manipulator fingers for opening the carton by deforming and moving the flaps. The overwrap(s), here the cartons, can then be moved, by the robotic arm or by other means, to a collection bin dedicated to overwrap 30 (a chute for transferring the cartons may be provided, as shown in the figures).
[0060] Using a gripper mounted on its gripper, the first robotic arm 10 can extract the packages containing the Petri dishes and place them on a tilting platform 12, creating a horizontal surface for the packages. The cutting tool can be used to open the packages. Actuators, for example, urethane rollers, can release the Petri dishes and convey the packages to a dedicated collection bin.
[0061] Finally, the unpacked Petri dishes are sent, in the example by tilting the tilting platform 12, towards the separating element of the lid and the main body.
[0062] The separating element of the lid and the main body can for example be formed by a vibrating hopper 14. This therefore allows an easy and grouped separation of the lids and the main bodies by vibration of the vibrating hopper 14 carrying the Petri dishes (which are unpacked and channeled).
[0063] At least one first conveyor 16 for transferring the assemblies, here Petri dishes, can be placed after the vibrating hopper 14 to transfer these assemblies from the separating member of the lid and the main body of the assembly to the gripping member of the main body or bodies.
[0064] The first conveyor 16 may include means for sorting the lid and the main body. This allows the lids to be sorted without passing through the gripping member of the main body. In other words, this allows the main body and the lid of each Petri dish to be separated, both on the same conveyor, so that the main body is directed to the gripping member and the lid to a first collection bin 18.
[0065] 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. Furthermore, the use of a vibrating conveyor makes it possible to promote separation of the lid and the main body, in particular through separation based on size and mass.
[0066] The Petri dishes unpacked by the first robotic arm can be sent, by tilting the tilting platform 12, to the vibrating hopper 14 or, as can be seen in the figures, to a transfer chute 20, which brings them back to the conveyor 16 after the vibrating hopper 14.
[0067] The recycling device 2 further comprises at least one grasping element for the main body, here two secondary robotic arms 22 configured to position the main body so that the opening faces downwards. In the example illustrated in the figures, the main bodies of the Petri dishes are directed towards grasping zones 24 from which the secondary robotic arms 22 grip them. The secondary robotic arms are conventionally six-degree-of-freedom robotic arms.
[0068] Each of the second robotic arms 22 may include at least one suction cup for gripping the main body. This allows the main body to be easily gripped and positioned at a content removal zone, in this case, for the agar. They may also include means for detecting the presence of a lid. This ensures that the lid has been properly removed before the main body is emptied. Then, after passing through the vibrating hopper 14 and / or the first vibrating conveyor 16, a final check prevents the incorrect processing of a Petri dish that still has a lid. The detection means may also detect the correct positioning (i.e., opening downwards) of the main body. These may, for example, be one or more capacitive sensors.
[0069] If a lid is present, the recycling device includes 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 grips the lid and thus disengages it from the main body. The lid held by the suction cup is then sent to the first collection bin 18. In the illustrated example, the first conveyor 16 sends the lids to the first collection bin 18. Alternatively, another conveyor could be provided for this purpose.
[0070] The recycling device 2 further comprises at least one means for mechanically separating the contents. This separating means may, for example, be a separating blade or any other similar means. Advantageously, it is an element that 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.
[0071] Advantageously, the mechanical trimming means is positioned above a content collection tray, here two secondary collection trays 26. The "upside-down" trimming allows for easy removal of the contents, here the agar, which is extracted by gravity from the main body after trimming removes the adhesions between the contents and the main body of the container. Positioning it above a collection tray, here the secondary collection trays 26, allows for effortless collection of the contents. A collection chute 28 can be provided to facilitate transfer to the secondary collection trays 26.
[0072] Advantageously, the mechanical contouring means is stationary, the gripping member being configured to move the main body relative to the mechanical contouring means. This optimizes the use of the gripping member without complicating the implementation of the mechanical contouring means. In other words, and particularly when using robotic arms as gripping members, the use of a stationary contouring means allows for easy contouring. By optimizing mobile means forming the gripping organ(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.
[0073] After emptying the contents, the main bodies can be placed back on the first conveyor 16 for collection 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 made of the same material, typically crystal polystyrene, hence the potential for collection into a single collection bin. Obviously, in the case of a container with a lid and a main body that cannot be recycled together, separate collection bins can be provided for the lid and the main body.
[0074] The lids and main bodies of the Petri dishes, emptied of their contents, are then processed, for example by grinding. A grinder could, for instance, be placed at the outlet of the recycling device 2 for rapid grinding of the lids and main bodies, which also has the advantage of optimizing the loading of the container containing the ground Petri dishes.
[0075] The recycling unit is advantageously mobile. For example, it can consist of several mobile modules (unpacking / depalletizing area, gripping areas, area for separating lids and main bodies, etc.), mounted on at least one welded frame, and surrounded by movable partitions, for example, wire mesh partitions, with controlled access areas (for operator safety), guards and physical and optical protections, and loading and collection areas. The entire unit can be reversibly fixed to the floor (for example, by bolting) before use. Quick-connect devices, such as industrial connectors, are advantageously provided for rapid connection of the recycling unit 2, especially when the latter is mobile.
[0076] A human-machine interface device may be provided to allow the recycling device to be started, its operation to be monitored, and its shutdown to be controlled. One or more synoptic views may be visible via the human-machine interface to show the overall status of the recycling device and / or the status of each part thereof.
[0077] All the mobile means described above are mobile by means of electrical and / or pneumatic means.
[0078] Regarding the recycling process according to the invention, and in support of [Fig.7], the latter comprises the following steps: - Place at least one assembly in a loading area 4 or 6 of the assembly. Steps 32 and 34 illustrate respectively a bulk loading and a packaged loading of the container / contents assemblies. - In the case of packaged loading, steps 36 and 38 involve unpacking the assemblies and then collecting the packaging (step 36), or even the overpackaging (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 indicated by arrow 40). - The assemblies loaded in bulk undergo a separation of the lids and main bodies (step 42), for example by means of the vibrating hopper 14, and are sent on the first conveyor 16 where they meet 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 trimming means (step 46). - Finally, the main bodies and 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
[0079] 2: Recycling device
[0080] 4: First loading area
[0081] 6: Second loading area
[0082] 8: Opening
[0083] 10: First robotic arm
[0084] 12: Tilting platform
[0085] 14: Vibrating hopper
[0086] 16: First conveyor
[0087] 18: First collection bin
[0088] 20: Transfer chute
[0089] 22: Second robotic arms
[0090] 24: Gripping areas
[0091] 26: Second collection bins
[0092] 28: Collection chute
[0093] 30: Collection bin dedicated to overwrap
[0094] 32: Loading of bulk assemblies
[0095]
[0096]
[0097]
[0098]
[0099]
[0100]
[0101]
[0102]
[0103] 34: Loading of packaged assemblies 36: Collection of the packaging(s) 38: Collection of the overpackaging(s) 40: Transfer of unpacked assemblies 42: Separation of lids and main bodies 44: Picking up of assemblies by the first conveyor 46: Emptying of main bodies 48: Collection of lids and main bodies 50: Collection of contents
Claims
Claims
1. 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 place 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.
2. 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.
3. Recycling device (2) according to any one of the preceding claims, comprising a loading zone (6) configured to accommodate several packages conditioned in at least one overpack, and at least one separation member (10) of the overpack, the packages and the assemblies.
4. 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 packagings and the assemblies, comprises at least one first robotic arm (10) comprising means for cutting the over-packaging and / or the packagings and means for removing the over-packaging and / or the packagings.
5. 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).
6. Recycling device (2) according to any one of claims 2 to 5, comprising at least one member for transferring the unpacked assemblies. towards the separating member (14) of the cover and the main body of each assembly.
7. 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).
8. 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.
9. Recycling device (2) according to claim 8, wherein the first conveyor (16) comprises means for sorting the cover and the main body.
10. 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.
11. 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.
12. Recycling device (2) according to claim 11, comprising means for removing the cover in the event of detection of the presence of the cover.
13. 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.
14. 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.
15. Method for 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 of the main body allowing access to the content, the method comprising the following steps: - depositing at least one assembly in a loading zone (4, 6) of the assembly, - separation of the lid and the main body, - gripping the main body and placing the main body so as to place the opening downwards, - mechanical cutting out of the contents, and - placing the container and the contents in different collection bins.
16. 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.
17. 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) of the overpack, the packages and the assemblies separates the overpack, the packages and the assemblies.
18. Recycling method (2) according to any one of claims 16 and 17, in which the overpackaging and the packaging(s) are collected.
19. 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.
20. Recycling method (2) according to any one of claims 15 to 19, in which sorting of the cover and the main body is carried out.
21. 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 verify the absence of the cover, and a removal of the cover if its presence is detected.
22. 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.