Methods and systems for dynamically sorting metallic articles

Abstract

Methods and systems for dynamically sorting metallic articles are provided. One method comprises engaging a metallic article by a positioning system, thereby temporarily securing the metallic article to the positioning system. The metallic article is transported according to a preprogrammed path while the metallic article is secured to the positioning system. While transporting the metallic article according to the preprogrammed path, an analyzer determines a chemical composition of the metallic article. A control circuit selects a deposit destination for the metallic article from a plurality of destinations based on the determined chemical composition. The control circuit dynamically adjusts the preprogrammed path to include the deposit destination, thereby generating a new path. The metallic article is transported to the deposit destination utilizing the new path. The metallic article is disengaged from the positioning system.

Description

TITLEMETHODS AND SYSTEMS FOR DYNAMICALLY SORTING METALLIC ARTICLESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No.63 / 720,905, which was filed on November 15, 2024, the contents of which is hereby incorporated by reference into this specification.FIELD OF USE

[0002] The present disclosure relates to methods and systems for dynamically sorting metallic articles.BACKGROUND

[0003] Some metals, such as, aluminum, can be recycled in various manners. For example, aluminum scrap can be processed to form new products therefrom. Recycling aluminum scrap and forming desirable new alloys present challenges.SUMMARY

[0004] Certain non-limiting aspects according to the present disclosure are directed to a method for dynamically sorting metallic articles. The method comprises engaging a metallic article by a positioning system, thereby temporarily securing the metallic article to the positioning system. The metallic article is transported according to a preprogrammed path while the metallic article is secured to the positioning system. While transporting the metallic article according to the preprogrammed path, an analyzer, at least partially attached to the positioning system, determines a chemical composition of the metallic article. A control circuit selects a deposit destination for the metallic article from a plurality of destinations based on the determined chemical composition. The control circuit dynamically adjusts the preprogrammed path to include the deposit destination, thereby generating a new path. The metallic article is transported to the deposit destination utilizing the new path. The metallic article is disengaged from the positioning system.

[0005] Various additional non- limiting aspects according to the present disclosure are directed to a positioning system comprising a movement tool, an end effector, and an optical guide. The end effector is mechanically connected to the movement tool and capable of engaging a metallic article to temporarily secure the metallic article to the end effector. The optical guide is attached to the movement tool, the end effector, or both the movement tool and the end effector. The optical guide is capable to be connected to an analyzer.

[0006] Further non-limiting aspects according to the present disclosure are directed to a sorting system for dynamically sorting metallic articles. The system comprises a first component, a positioning system, an analyzer, and a control circuit. The first component is capable to hold metallic articles. The positioning system is capable to engage and transport metallic articles from the first component according to a preprogrammed path stored in memory. The positioning system comprises a movement tool, an end effector, and an optical guide. The end effector is mechanically connected to the movement tool and capable of engaging a metallic article to temporarily secure the metallic article to the end effector. The optical guide is attached to the movement tool, the end effector, or both the movement tool and the end effector. The optical guide is capable to be connected to an analyzer. The analyzer is attached to the end effector utilizing the optical guide. The analyzer is capable to determine a chemical composition of a metallic article. The control circuit is in signal communication with the positioning system and the analyzer. The control circuit is capable to select a deposit destination for a metallic article based on a chemical composition determined by the analyzer and dynamically adjust the preprogrammed path to include the deposit destination, thereby generating a new path.

[0007] It is understood that the inventions disclosed and described in this specification are not limited to the aspects summarized in this Summary. The reader will appreciate the foregoing details, as well as others, upon considering the following detailed description of various non-limiting and non-exhaustive aspects according to this specification.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The features and advantages of the examples, and the manner of attaining them, will become more apparent, and the examples will be better understood, by reference to the following description taken in conjunction with the accompanying drawing, wherein:

[0009] FIG. 1 is a schematic view of certain aspects of a non-limiting embodiment of a system for dynamically sorting metallic articles according to the present disclosure; and

[0010] FIG. 2 is a flow chart illustrating a non-limiting embodiment of a method for dynamically sorting metallic articles according to the present disclosure.

[0011] The exemplifications set out herein illustrate certain embodiments, in one or more forms, and such exemplifications are not to be construed as limiting the scope of the appended claims in any manner.DESCRIPTION OF NON-LIMITING EMBODIMENTS

[0012] Various embodiments are described and illustrated herein to provide an overall understanding of the structure, function, and use of the disclosed articles and methods. The various embodiments described and illustrated herein are non-limiting and non-exhaustive. Thus, an invention is not limited by the description of the various non-limiting and non-exhaustive embodiments disclosed herein. Rather, the invention is defined solely by the claims. The features and characteristics illustrated and / or described in connection with various embodiments may be combined with the features and characteristics of other embodiments. Such modifications and variations are intended to be included within the scope of this specification. As such, the claims may be amended to recite any features or characteristics expressly or inherently described in, or otherwise expressly or inherently supported by, this specification. Further, the applicant reserves the right to amend the claims to affirmatively disclaim features or characteristics that may be present in the prior art. The various embodiments disclosed and described in this specification can comprise, consist of, or consist essentially of the features and characteristics as variously described herein.

[0013] Including scrap in the feed materials used to produce products can be desirable to reduce carbon footprint, reduce materials cost, and / or provide alternative uses for the scrap materials. Various scrap materials, such as, for example, scrap aluminum (e.g., postconsumer scrap aluminum) may comprise various elements in addition to aluminum. For example, depending on the original application, aluminum scrap may comprise, for example, iron, silicon, manganese, magnesium, copper, and / or zinc in differing concentrations.Depending on the chemistry of the aluminum alloy desired for manufacturing into a new product, certain aluminum scrap may not be useful as alloying elements in the scrap may exceed desired limits. The present inventor has determined that a need exists to moreeffectively sort scrap materials in order to better control the alloying element contents in a new aluminum alloy formed from feed materials including the aluminum scrap.

[0014] The present inventor has determined that prior scrap sorting processes can be inefficient and slow, leading to low utilization rates of scrap materials in forming new metal alloys. The present disclosure provides methods and systems for quickly and / or efficiently dynamically sorting metallic articles such that the use of scrap materials in new alloys and products made from the alloys can be increased.

[0015] In various non-limiting embodiments, the present disclosure provides a method for dynamically sorting an article. The method comprises engaging a metallic article by a positioning system, thereby temporarily securing the metallic article to the positioning system. The metallic article is transported according to a preprogrammed path while the metallic article is secured to the positioning system. While transporting the metallic article according to the preprogrammed path, an analyzer, at least partially attached to the positioning system, determines a chemical composition of the metallic article. A control circuit selects a deposit destination for the metallic article from a plurality of destinations based on the determined chemical composition. The control circuit dynamically adjusts the preprogrammed path to include the deposit destination, thereby generating a new path. The metallic article is transported to the deposit destination utilizing the new path. The metallic article is disengaged from the positioning system.

[0016] Aspects of a non-limiting embodiment of a sorting system 100 for dynamically sorting metallic articles 104 according to the present disclosure is schematically shown in FIG. 1. The system 100 can comprise a first component 102 capable to hold metallic articles 104, a positioning system 106, an analyzer 108, and a control circuit 110. The system 100 can be capable to transport the articles from the first component 102, analyze the chemical composition of the metallic articles 104 during transport, and deposit the metallic articles in one of destinations 124, 126, 128 based on their chemical composition.

[0017] The metallic articles 104 can comprise various shapes and / or sized depending on the source of the metallic articles. For example, the metallic articles 104 can be discrete. In certain embodiments, each individual metallic article 104 can have a mass no greater than 10 kilogram (kg), such as, for example, no greater than 5 kg, no greater than 1 kg, no greater than 500 g, no greater than 100 g, no greater than 50 g, no greater than 25 g, or no greaterthan 20 g. In certain embodiments, each individual metallic article 104 can have a mass of at least 1 g, at least 5 g, at least 10 g, or at least 20 g. In certain embodiments, each metallic article 104 can have a mass in a range of 1 g to 10 kg, such as, for example, 5 g to 5 kg, 5 g to 1 kg, 5 g to 500 g, or 10 g to 50 g.

[0018] In various non- limiting embodiments, the metallic articles 104 can comprise a metal or a metal alloy, such as, for example, aluminum an aluminum alloy, iron, an iron alloy, zinc, a zinc alloy, magnesium, a magnesium alloy, copper, or a copper alloy. For example, the metallic articles 104 can comprise an aluminum alloy comprising at least one element selected from the group consisting of iron, silicon, manganese, magnesium, copper, and zinc. The balance of the aluminum alloy may comprise aluminum, incidental elements, and impurities. In various non- limiting embodiments, the metallic articles 104 can comprise an alloy selected individually from the group consisting of a 3XXX series aluminum alloy, a 5XXX series aluminum alloy, and a 6XXX series aluminum alloy. In certain non-limiting embodiments, the metallic articles 104 can be shredder scrap.

[0019] The first component 102 can be capable to hold metallic articles 104. For example, the first component 102 can comprise a conveyor belt 102a, a container 102b, both a conveyor belt 102a and a container 102b, or other substrate. For example, the metallic articles 104 can be stationary in the container 102b, stationary on the floor 102c in a pile, in motion on the conveyor belt 102a, in motion in the container 102b on the conveyor belt 102a, or a combination thereof. The metallic articles 104 can be stationary (e.g., in a pile on the floor, in a stationary container) and / or the metallic articles 104 can be in motion (e.g., directly on a moving conveyor belt, in a container on a moving conveyor belt).

[0020] The positioning system 106 can be capable to engage and transport the metallic articles 104 from the first component 102 along a preprogrammed path 116 stored in memory 114. For example, the positioning system 106 can comprise a movement tool 118, an end effector 120, and an optical guide 122. The positioning system 106 can be capable of three-dimensional movement including z-, x-, and y-axis movements to move the end effector 120 relative to the first component 102.

[0021] The movement tool 118 can comprise at least one component selected from the group consisting of a gantry and a robotic arm. The end effector 120 can be operatively coupled to the movement tool 118 which can move the end effector 120 in at least three degrees of freedom in order to engage metallic articles 104. For example, the movement tool 118 cancomprise a parallel arm robot, such as, for example, a delta robot. The movement tool 118 can comprise a base 118a and at least two arms 118b connected to universal joints 118c at the base 118a. The arms 118b can be connected to universal joints 118d at the base 118e. The base 118e can be connected to the end effector 120 such that movement of at least one arm 118b can move the end effector 120 in at least one degree of freedom.

[0022] The components 118a-l 18e can form the parallel arm robot and the parallel arm robot can be attached to a second component 118f that can move the entire parallel arm robot in three dimensional space. For example, the second component 118f can be selected from the group consisting of a gantry and a robotic arm.

[0023] The end effector 120 can be mechanically connected to the movement tool 118 and capable of engaging a metallic article 104 and temporarily securing the metallic article 104 to the end effector 120. The end effector 120 can comprise a mechanical clamp (e.g., jaw like device), a vacuum gripper, a suction cup, an electromagnet, and / or other device capable of engaging and temporarily securing the metallic article 104. The movement tool 118 can position the end effector 120 relative to the metallic article 104 such that the end effector can use the mechanical clamp (e.g., jaw like device), a vacuum gripper, a suction cup, an electromagnet, and / or other device to engage the metallic article 104 and secure the metallic article 104 to the device such that the metallic article 104 can be moved by movement of the positioning system 106.

[0024] The optical guide 122 can be attached to the movement tool 118, the end effector 120, or both the movement tool 118 and the end effector 120. The optical guide 122 can be on the positioning system 106 in a fixed position with respect to the end effector 120 and positioned so that an end 122a of the optical guide 122 faces towards a receiving position 138 adjacent to the end effector 120 where the metallic article 104 is disposed when engaged by the end effector 120.

[0025] The optical guide 122 can be capable to be connected to the analyzer 108. For example, the optical guide 122 can transmit light to the analyzer 108 (e.g., be in light communication with the analyzer 108). The optical guide 122 can receive light emitted from a surface of a metallic article 104 attached to the end effector 120 and transmit that light to the analyzer 108. In various non-limiting embodiments, the optical guide 122 can comprise a fiber optic, a lens, or a combination thereof.

[0026] The analyzer 108 can be atached to the end effector 120 utilizing the optical guide 122. The analyzer 108 can be capable to determine a chemical composition of a metallic article 104 secured by the end effector 120. In various embodiments, the analyzer 108 can comprise a laser induced breakdown spectroscopy (LIBS) device, an x-ray fluorescence (XRF) device, or a combination thereof. In embodiments where the analyzer 108 is a LIBS device, the analyzer 108 can comprise an emitter capable to emit laser beam through a first portion of the optical guide 122, and the laser beam can contact a surface of the metallic article 104 attached to the end effector 120. The laser can generate a plasma on the surface of the metallic article, and the plasma emits light based on the composition of the metallic article 104. A second portion of the optical guide 122 can receive light from the plasma generated on the surface of the metallic article 104 and transmit the light to a spectrometer in the analyzer 108 capable to analyze the wavelengths of light emited by the plasma and determine chemical characteristics of the metallic article 104.

[0027] Each of destinations 124, 126, 128 can be capable to hold metallic articles 104. For example, each destination 124, 126, 128 can comprise a conveyor belt, a container, both a conveyor belt and a container, or other substrate. For example, the metallic articles 104 can be stationary in the container, stationary on the floor in a pile, in motion on the conveyor belt, in motion in a container on the conveyor belt, or can be distributed among two or more such positions / states. In various non-limiting embodiments, a conveyor belt can comprise multiple destinations that are delineated on the conveyor belt through programming or with physical devices such as marks, other indicia, containers, or the like. In various non-limiting embodiments, the first component 102 and the destinations 124, 126, 128 each comprise a conveyor belt and the conveyor belts move simultaneously.

[0028] The system 100 can further comprise a device 130 capable to transport the metallic article to a pile. The device 130 can comprise, for example, a mechanical tool, an apparatus selectively generating an air jet, and / or other transport device. In certain alternative embodiments, gravity may be used to move the metallic article 104 to a pile. In certain embodiments where the destination 128 comprises a conveyor belt 128 and the device 130 comprises an apparatus generating an air jet, after the metallic article 104 is deposited in the destination 128, the conveyor belt can move the article towards the device 130 and the device 130 can emit air towards the metallic article 104, causing the metallic article 104 to move off of the destination 128 to a secondary destination 140. In various non- limiting embodiments,a chute may be utilized to facilitate transfer of the metallic articles between destinations 124, 126, 128, the positioning system 106, and / or the second destination 140.

[0029] The control circuit 110 can be capable to control the functionality of the system 100. For example, the control circuit 110 can be in signal communication with the positioning system 106, the analyzer 108, and, optionally, the first component 102 and the destinations 124, 126, 128.

[0030] The control circuit 110 can be capable to instruct the positioning system 106 to engage the metallic article 104 to temporarily secure the metallic article to the positioning system 106 and transport the metallic article 104 from the first component 102 along a preprogrammed path 116. The preprogrammed path 116 can be stored in memory 114 that can be accessible by the control circuit 110.

[0031] The control circuit 110 can be capable to instruct the analyzer 108 to determine the chemical composition of the metallic article 104 attached to the end effector 120. The control circuit 110 can be capable to select a deposit destination from destinations 124, 126, 128 for the metallic article 104 attached to the end effector 120 based on a chemical composition determined by the analyzer 108. The control circuit 110 can be capable to dynamically adjust the preprogrammed path 116 to include the respective destination 124, 126, 128, thereby generating a new path 132.

[0032] As used herein, the term “control circuit” may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor comprising one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or FPGA), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof. The control circuit 110 may, be embodied, collectively or individually, as circuitry that forms part of a larger system, for example, an IC, an ASIC, a SoC, a desktop computer, a laptop computer, a tablet computer, a server, a smart phone, etc. Accordingly, as used herein, a “control circuit” can comprise electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one IC, electrical circuitry having at least one application-specific IC, electrical circuitry forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program that at least partially carries out processes and / or devices described hereinor a microprocessor configured by a computer program that at least partially carries out processes and / or devices described herein), electrical circuitry forming a memory device (e.g., forms of RAM), and / or electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment). The subject matter described herein may be implemented in an analog or digital fashion, or some combination thereof.

[0033] In various embodiments, the system 100 can dynamically sort at least 10 metallic articles 104 per minute, such as, for example, at least 50, at least 100, at least 150, at least 200, or at least 250 metallic articles 104 per minute. For example, the system 100 can dynamically sort 10 to 300 metallic articles 104 per minute.

[0034] FIG. 2 illustrates a non-limiting embodiment of a method for dynamically sorting metallic articles in accordance with the present disclosure. The method may be executed with, for example, the system 100 described hereinabove.

[0035] The method comprises, at step 202, engaging a metallic article 104 by the positioning system 106, thereby temporarily securing the metallic article 104 to the positioning system 106. For example, the metallic article 104 can be lifted off of the first component 102 by the end effector 120. In various non-limiting embodiments, the metallic article 104 can be positioned intermediate the first component 102 and the positioning system 106 during the engaging.

[0036] The method can comprise, at step 204, transporting the metallic article 104 according to a preprogrammed path 116 and the metallic article 104 is secured to the positioning system 106 for at least a portion of the preprogrammed path 116. For example, the preprogrammed path 116 can be a pathway that begins at the first component 102 and continues in a direction towards the destinations 124, 126, 128 and / or secondary destination 140. The preprogrammed path 116 may have a selected destination programmed as a default, or the preprogrammed path 116 may not have a selected destination programmed as a default. Regardless, the selected destination can be modified by the control circuit 110 as discussed with respect to step 210 herein.

[0037] The method can comprise, at step 206, determining, by the analyzer 108, a chemical composition of the metallic article 104 while transporting the metallic article 104 according to the preprogrammed 116. For example, the positioning system 106 and the metallic article 104 attached thereto can be in motion during the analysis. The chemical composition can be,for example, a general chemical composition or an elemental analysis of the metallic article. For example, the analyzer 108 can be capable to determine if the metallic article 104 is aluminum, an aluminum alloy, iron, an iron alloy, zinc, a zinc alloy, magnesium, a magnesium alloy, copper, or a copper alloy. In various non-limiting embodiments where the metallic article 104 comprises aluminum, the analyzer 108 can determine the weight percentage concentration of iron, silicon, manganese, magnesium, copper, zinc, and / or aluminum within the metallic article 104.

[0038] The method can comprise, at step 208, selecting, by the control circuit 110, a deposit destination for the metallic article 104 from a plurality of destinations 124, 126, 128, 140 based on the determined chemical composition. For example, each of destinations 124, 126, 128, 140 may be associated with a certain determined chemical composition. For example, each destination 124, 126, 128, 140 may be associated with a particular alloy type and / or a target content range for iron, silicon, manganese, magnesium, copper, zinc, and / or aluminum within the metallic article 104 such that a new alloy created from the metallic articles 104 deposited in a particular destination 124, 126, 128, 140 can be formed with a desired elemental chemistry. For example, the destination chosen among destinations 124, 126, 128, 140 can be selected based on a silicon concentration within the metallic articles 104. In various non-limiting embodiments, a new alloy can be formed by blending metallic articles 104 from two or more of the destinations 124, 126, 128, 140 in certain volume or weight ratios to achieve the elemental composition desired of a new alloy produced by feed materials including the metallic articles 104.

[0039] The method can comprise, at step 210, dynamically adjusting, by the control circuit 110, the preprogrammed path 116 to include the selected deposit destination, thereby generating a new path 132. Generating the new path 132 can comprise adding a new destination to the preprogrammed path 116, changing the destination in the preprogrammed path 116, or determining the destination in the preprogrammed path 116 is correct and leaving it unmodified.

[0040] The method can comprise, at step 212, transporting a metallic article 104 to the selected deposit destination utilizing the new path 132. The method can comprise, at step 214, disengaging the metallic article 104 from the positioning system 106, which may deposit the metallic article 104 in the selected deposit destination. The metallic article 104 can be transported along the new path 132 using the positioning system 106, a conveyor belt (e.g., destination 126, destination 128), and / or the device 130.

[0041] The method can comprise, at step 216, transporting the metallic article 104 to a pile using the device 130. In various non-limiting embodiments, transporting the metallic article 104 to the pile can be performed after disengaging the metallic article 104 from the positioning system 106. In various non- limiting embodiments, transporting the metallic article 104 to the selected deposit destination utilizing the new path 132 can be completed after disengaging the metallic article 104. For example, the metallic article 104 can be disengaged from the positioning system 106, the deposit destination can be selected after the disengagement, and the new path 132 can be created with the deposit destination. The metallic article 104 can be transported along the remainder of the new path 132 using a conveyor belt (e.g., destination 126, destination 128) and / or the device 130.

[0042] The following numbered clauses are directed to various non-limiting embodiments and aspects according to the present disclosure.

[0043] Clause 1. A method for dynamically sorting metallic articles, the method comprising: engaging a metallic article by a positioning system, thereby temporarily securing the metallic article to the positioning system; transporting the metallic article according to a preprogrammed path while the metallic article is secured to the positioning system; while transporting the metallic article according to the preprogrammed path, determining, by an analyzer at least partially attached to the positioning system, a chemical composition of the metallic article; selecting, by a control circuit, a deposit destination for the metallic article from a plurality of destinations based on the determined chemical composition; dynamically adjusting, by the control circuit, the preprogrammed path to include the deposit destination, thereby generating a new path; transporting the metallic article to the deposit destination utilizing the new path; and disengaging the metallic article from the positioning system.

[0044] Clause 2. The method of clause 1, wherein the positioning system comprises at least one end effector selected from the group consisting of a mechanical clamp, a vacuum gripper, a suction cup, and an electromagnet.

[0045] Clause 3. The method of any of clauses 1-2, wherein the positioning system comprises at least one movement tool selecting from the group consisting of a gantry and a robotic arm.

[0046] Clause 4. The method of any of clauses 1-3, wherein the positioning system comprises a parallel arm robot.

[0047] Clause 5. The method of any of clauses 1-4, wherein the metallic article is on a first conveyor belt prior to being engaged by the positioning system.

[0048] Clause 6. The method of clause 5, wherein the deposit destination is a second conveyor belt.

[0049] Clause 7. The method of any of clauses 5-6, wherein the metallic article is positioned intermediate the first conveyor belt and the positioning system during the engaging, and wherein transporting the metallic article according to the preprogrammed path comprises lifting the metallic article off of the first conveyor belt.

[0050] Clause 8. The method of any of clauses 5-7, wherein the deposit destination is a container on a second conveyor belt.

[0051] Clause 9. The method of any of clauses 1-8, wherein the metallic article is in a first container prior to being engaged by the positioning system.

[0052] Clause 10. The method of clause 9, wherein the deposit destination is a second container.

[0053] Clause 11. The method of any of clauses 1-10, wherein the analyzer comprises a laser induced breakdown spectroscopy (LIBS) device, an x-ray fluorescence (XRF) device, or a combination thereof.

[0054] Clause 12. The method of any of clauses 1-11, wherein the positioning system comprises an end effector, a movement tool, and an optical guide, wherein the optical guide is attached to the movement tool, the end effector, or both the movement tool and the end effector.

[0055] Clause 13. The method of clause 12, wherein the optical guide is in a fixed position on the position system with respect to the end effector.

[0056] Clause 14. The method of any of clauses 1-13, wherein the metallic article comprises aluminum, an aluminum alloy, iron, an iron alloy, zinc, a zinc alloy, magnesium, a magnesium alloy, copper, or a copper alloy.

[0057] Clause 15. The method of any of clauses 1-14, wherein the metallic article comprises an aluminum alloy comprising at least one element selected from the group consisting of iron, silicon, manganese, magnesium, copper, and zinc.

[0058] Clause 16. The method of any of clauses 1-15, further comprising, after disengaging the metallic article, transporting the metallic article to a pile using at least one of a mechanical tool, gravity, and an air jet.

[0059] Clause 17. The method of any of clauses 1-16, wherein transporting the metallic article to the deposit destination utilizing the new path is performed after disengaging the metallic article.

[0060] Clause 18. A positioning system comprising: a movement tool; an end effector mechanically connected to the movement tool and capable of engaging a metallic article to temporarily secure the metallic article to the end effector; and an optical guide attached to the movement tool, the end effector, or both the movement tool and the end effector, wherein the optical guide is capable to be connected to an analyzer.

[0061] Clause 19. A sorting system for dynamically sorting metallic articles, the system comprising: a first component capable to hold metallic articles; the positioning system of clause 18 capable to engage and transport metallic articles from the first component according to a preprogrammed path stored in memory; an analyzer attached to the end effector utilizing the optical guide, the analyzer capable to determine a chemical composition of a metallic article; a control circuit in signal communication with the positioning system and the analyzer, the control circuit capable to: select a deposit destination for a metallic article based on a chemical composition determined by the analyzer; and dynamically adjust the preprogrammed path to include the deposit destination, thereby generate a new path.

[0062] Clause 20. The sorting system of clause 19, wherein: the end effector is selected from the group consisting of a mechanical clamp, a vacuum gripper, a suction cup, and an electromagnet; the movement tool is selected from the group consisting of a gantry and a robotic arm; and the analyzer comprises a laser induced breakdown spectroscopy (LIBS) device, an x-ray fluorescence (XRF) device, or a combination thereof.

[0063] Clause 21. The sorting system of any of clauses 19-20, wherein the first component is a conveyor belt, a container, or both a conveyor belt and a container.

[0064] As used herein, “at least one of’ a list of elements or other items means one of the elements / items or any combination of two or more of the listed elements / items. As an example “at least one of A, B, and C” means any of A only; B only; C only; A and B; A and C; B and C; or A, B, and C.

[0065] As used herein, a referenced element or region that is “intermediate” two other elements or regions means that the referenced element / region is disposed between, but is not necessarily in contact with, the two other elements / regions. Accordingly, for example, a referenced element that is “intermediate” a first element and a second element may or may not be immediately adjacent to or in contact with the first and / or second elements, and other elements may be disposed between the referenced element and the first and / or second elements.

[0066] Any references herein to “various embodiments”, “some embodiments”, “one embodiment”, “an embodiment”, “a non-limiting embodiment”, or like phrases mean that a particular feature, structure, step, or characteristic described in connection with the example is included in at least one embodiment. Thus, appearances of the phrases “various embodiments”, “some embodiments”, “one embodiment”, “an embodiment”, “a non-limiting embodiment”, or like phrases in the specification do not necessarily refer to the same embodiment. Furthermore, the particular described features, structures, steps, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, steps, or characteristics illustrated or described in connection with one embodiment may be combined, in whole or in part, with the features, structures, steps, or characteristics of one or more other embodiments, without limitation. Such modifications and variations are intended to be included within the scope of the present embodiments.

[0067] In this specification, unless otherwise indicated, all numerical parameters are to be understood as being prefaced and modified in all instances by the term “about,” in which the numerical parameters possess the inherent variability characteristic of the underlying measurement techniques used to determine the numerical value of the parameter. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter described herein should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques.

[0068] Also, any numerical range recited herein includes all sub-ranges subsumed within the recited range. For example, a range of “1 to 10” includes all sub-ranges between (and including) the recited minimum value of 1 and the recited maximum value of 10, that is, having a minimum value equal to or greater than 1 and a maximum value equal to or less than 10. Also, all ranges recited herein are inclusive of the end points of the recited ranges. For example, a range of “1 to 10” includes the end points 1 and 10. Any maximum numerical limitation recited in this specification is intended to include all lower numerical limitations subsumed therein, and any minimum numerical limitation recited in this specification is intended to include all higher numerical limitations subsumed therein. Accordingly, Applicant reserves the right to amend this specification, including the claims, to expressly recite any sub-range subsumed within the ranges expressly recited. All such ranges are inherently described in this specification.

[0069] The grammatical articles “a”, “an”, and “the”, as used herein, are intended to include “at least one” or “one or more”, unless otherwise indicated, even if “at least one” or “one or more” is expressly used in certain instances. Thus, the foregoing grammatical articles are used herein to refer to one or more than one (i.e., to “at least one”) of the particular identified elements. Further, the use of a singular noun includes the plural and the use of a plural noun includes the singular, unless the context of the usage requires otherwise.

[0070] One skilled in the art will recognize that the herein described articles and methods, and the discussion accompanying them, are used as examples for the sake of conceptual clarity and that various configuration modifications are contemplated. Consequently, as used herein, the specific examples / embodiments set forth and the accompanying discussions are intended to be representative of their more general classes. In general, use of any specific exemplar is intended to be representative of its class, and the non-inclusion of specific components, devices, operations / actions, and objects should not be taken to be limiting. While the present disclosure provides descriptions of various specific aspects for the purpose of illustrating various aspects of the present disclosure and / or its potential applications, it is understood that variations and modifications will occur to those skilled in the art.Accordingly, the invention or inventions described herein should be understood to be at least as broad as they are claimed and not as more narrowly defined by particular illustrative aspects provided herein.

Claims

CLAIMSWhat is claimed is:

1. A method for dynamically sorting metallic articles, the method comprising:engaging a metallic article by a positioning system, thereby temporarily securing the metallic article to the positioning system;transporting the metallic article according to a preprogrammed path while the metallic article is secured to the positioning system;while transporting the metallic article according to the preprogrammed path, determining, by an analyzer at least partially attached to the positioning system, a chemical composition of the metallic article;selecting, by a control circuit, a deposit destination for the metallic article from a plurality of destinations based on the determined chemical composition;dynamically adjusting, by the control circuit, the preprogrammed path to include the deposit destination, thereby generating a new path;transporting the metallic article to the deposit destination utilizing the new path; and disengaging the metallic article from the positioning system.

2. The method of claim 1, wherein the positioning system comprises at least one end effector selected from the group consisting of a mechanical clamp, a vacuum gripper, a suction cup, and an electromagnet.

3. The method of claim 1, wherein the positioning system comprises at least one movement tool selecting from the group consisting of a gantry and a robotic arm.

4. The method of claim 1, wherein the positioning system comprises a parallel arm robot.

5. The method of claim 1, wherein the metallic article is on a first conveyor belt prior to being engaged by the positioning system.

6. The method of claim 5, wherein the deposit destination is a second conveyor belt.

7. The method of claim 5, wherein the metallic article is positioned intermediate the first conveyor belt and the positioning system during the engaging, and wherein transporting the metallic article according to the preprogrammed path comprises lifting the metallic article off of the first conveyor belt.

8. The method of claim 5, wherein the deposit destination is a container on a second conveyor belt.

9. The method of claim 1, wherein the metallic article is in a first container prior to being engaged by the positioning system.

10. The method of claim 9, wherein the deposit destination is a second container.

11. The method of claim 1, wherein the analyzer comprises a laser induced breakdown spectroscopy (LIBS) device, an x-ray fluorescence (XRF) device, or a combination thereof.

12. The method of claim 1, wherein the positioning system comprises an end effector, a movement tool, and an optical guide, wherein the optical guide is attached to the movement tool, the end effector, or both the movement tool and the end effector.

13. The method of claim 12, wherein the optical guide is in a fixed position on the position system with respect to the end effector.

14. The method of claim 1, wherein the metallic article comprises aluminum, an aluminum alloy, iron, an iron alloy, zinc, a zinc alloy, magnesium, a magnesium alloy, copper, or a copper alloy.

15. The method of claim 1, wherein the metallic article comprises an aluminum alloy comprising at least one element selected from the group consisting of iron, silicon, manganese, magnesium, copper, and zinc.

16. The method of claim 1, further comprising, after disengaging the metallic article, transporting the metallic article to a pile using at least one of a mechanical tool, gravity, and an air jet.

17. The method of claim 1, wherein transporting the metallic article to the deposit destination utilizing the new path is performed after disengaging the metallic article.

18. A positioning system comprising:a movement tool;an end effector mechanically connected to the movement tool and capable of engaging a metallic article to temporarily secure the metallic article to the end effector; and an optical guide attached to the movement tool, the end effector, or both the movement tool and the end effector, wherein the optical guide is capable to be connected to an analyzer.

19. A sorting system for dynamically sorting metallic articles, the system comprising: a first component capable to hold metallic articles;the positioning system of claim 18 capable to engage and transport metallic articles from the first component according to a preprogrammed path stored in memory;an analyzer attached to the end effector utilizing the optical guide, the analyzer capable to determine a chemical composition of a metallic article;a control circuit in signal communication with the positioning system and the analyzer, the control circuit capable to:select a deposit destination for a metallic article based on a chemical composition determined by the analyzer; anddynamically adjust the preprogrammed path to include the deposit destination, thereby generate a new path.

20. The sorting system of claim 19, wherein:the end effector is selected from the group consisting of a mechanical clamp, a vacuum gripper, a suction cup, and an electromagnet;the movement tool is selected from the group consisting of a gantry and a robotic arm; andthe analyzer comprises a laser induced breakdown spectroscopy (LIBS) device, an x-ray fluorescence (XRF) device, or a combination thereof.

21. The sorting system of claim 19, wherein the first component is a conveyor belt, a container, or both a conveyor belt and a container.

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