Suction Gripper Pressure Feedback for Reliable Waste Sorting
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Solution Overview
Problem
Existing robotic waste sorting systems face challenges such as limited suitability for handling heavy objects, varying working volume dimensions, susceptibility to wear, and increased computational processing requirements due to non-linear arm movements.
Innovation Solution
A waste sorting robot equipped with a suction gripper and pressure sensors, where the controller receives pressure and position signals to adapt and control the suction gripper, ensuring reliable operation and efficient sorting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a delta robot is used for waste sorting, then small light objects can be picked effectively, but heavy objects cannot be lifted and the manipulator must be kept as light as possible
Solution Approach 1:
The patent replaces the traditional mechanical delta robot manipulator with a robotic arm system that has a fixed base and can be supported by a robust structure. This allows the use of heavier, more powerful actuators and end effectors without the weight constraints of a suspended delta robot, while maintaining automated picking capability through controller-directed movement.
2Ease of operation
If a delta robot is used, then the robot can operate above the conveyor belt, but the working volume becomes an inverted cone that narrows away from the servo housing, limiting manipulation capability across the width
Solution Approach 1:
The patent inverts the traditional delta robot configuration by placing the base on the floor rather than suspending it from above. The robotic arm extends upward and outward from the floor-mounted base, creating a working volume that expands rather than narrows, allowing consistent manipulation capability across the entire width of the conveyor belt.
3Adaptability or versatility
If a delta robot with universal joints is used, then the robot can achieve complex movements, but the joints are susceptible to wear and malfunction
Solution Approach 1:
The patent replaces the complex universal joint mechanism of the delta robot with a simpler robotic arm structure that uses rotary joints and linear actuators. This substitution reduces the number of complex moving parts and universal joints, thereby improving reliability and reducing wear while maintaining the ability to achieve the necessary movements for waste sorting.
4Extent of automation
If a delta robot is used, then automated sorting can be achieved, but non-linear arm movements require increased computational processing
Solution Approach 1:
The patent implements a floor-mounted base with pre-defined operational parameters and a controller that uses simplified kinematic models. By establishing the base position and arm configuration in advance, the system reduces the computational complexity required for real-time control while maintaining automated sorting capability, as the controller only needs to manage movements within a predictable workspace.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances the reliability and efficiency of waste sorting by effectively controlling the suction gripper, adapting to pressure changes, and maintaining consistent performance, thereby improving safety and output.
Implementation Method 1
A waste sorting robot comprises a manipulator (104) with a suction gripper (132) for interacting with one or more waste objects (106a, 106b, 106c) to be sorted within a working area (108)
Implementation Method 2
The controller (102) is configured to receive a pressure signal from the pressure sensor (300) and to control a pneumatic system (220) in dependence on the pressure signal
Data Source
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AI summary
A waste sorting robot comprises a manipulator comprising a suction gripper for interacting with one or more waste objects to be sorted within a working area, and wherein the manipulator is moveable within the working area. There is a controller configured to send control instructions to the manipulator. At least one pressure sensor is in fluid communication with the suction gripper and configured to generate a pressure signal in dependence on a fluid pressure in the suction gripper. At least one position sensor is configured to generate a position signal in dependence of the position of the manipulator and / or the suction gripper. The controller is configured to receive the pressure signal and the position signal and to determine manipulator instructions in dependence on the pressure signal. The controller determines a suction gripper status in dependence on a position of the manipulator and / or the suction gripper. This means that the controller can adapt and react to differences in pressure at the suction gripper.