EP3056288A1 - Selektives sortierverfahren - Google Patents

Selektives sortierverfahren Download PDF

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Publication number
EP3056288A1
EP3056288A1 EP16305055.2A EP16305055A EP3056288A1 EP 3056288 A1 EP3056288 A1 EP 3056288A1 EP 16305055 A EP16305055 A EP 16305055A EP 3056288 A1 EP3056288 A1 EP 3056288A1
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EP
European Patent Office
Prior art keywords
objects
zone
cluster
nature
operator
Prior art date
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Granted
Application number
EP16305055.2A
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English (en)
French (fr)
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EP3056288B1 (de
Inventor
Jérémy DOUBLET
Christophe Gambier
Jean-François REZEAU
Alexander Mallinson
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Veolia Environnement SA
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Veolia Environnement SA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3416—Sorting according to other particular properties according to radiation transmissivity, e.g. for light, x-rays, particle radiation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C7/00—Sorting by hand only e.g. of mail
    • B07C7/005—Computer assisted manual sorting, e.g. for mail

Definitions

  • the present invention generally relates to a selective sorting method for identifying and sorting material objects of different natures, sizes, masses and shapes.
  • the present invention also relates to a device capable of implementing such a sorting method.
  • the invention relates to a method for selectively sorting a set of objects in the form of a cluster.
  • PPE personal protective equipment
  • workstations ventilation and appropriate infrastructure in particular
  • hydraulic machines can be used in sorting areas.
  • Examples of hydraulic machines include construction machines such as cranes, or hydraulic excavators.
  • these machines do not make it possible to reach satisfactory levels of performance and productivity.
  • it is difficult to precisely control the extraction of an object in particular and to be able to observe it in its entirety during its displacement.
  • robotic systems are used to efficiently and quickly sort fruits and vegetables according to various predefined criteria, including physical criteria, such as the shape, size or maturity of a product. organic.
  • international demand WO 2009/068792 describes a method and a selective sorting device improving those described in WO 98/19799 , in particular by allowing a very high rate. More particularly, in the device of WO 2009/068792 , it is possible to change the visual appearance of an image of a targeted object on a video screen.
  • clusters in the sense of the present invention, means a set of heterogeneous objects entangled and arranged randomly on each other, said objects being waste.
  • said method being characterized in that the nature of the object grasped or to be grasped by the robot is defined and assigned between steps e) and i), and consists in capturing at least one two-dimensional image in which said object appears, using at least one two-dimensional image sensor and to broadcast at least one of said two-dimensional images on a display screen that can be observed by an operator, said operator assigning a nature to said object displayed.
  • the cluster of objects that can be sorted by the process according to the invention may for example contain, in a nonlimiting manner, bulky objects or objects small sizes, whatever waste, industrial or domestic.
  • the term "waste” means any object, or more generally any movable good, the holder of which is undone or whose intention or obligation it is to dispose of, for the purposes of recovery or disposal, whether the holder is an industrialist, a community or an individual.
  • the objects of the cluster that can be sorted by the method according to the invention are for example organic waste or not, electronic waste, construction waste, furniture waste, industrial waste etc. .
  • the objects that are to be sorted are conveyed to a processing center for recovery, for example for recycling.
  • the objects to be sorted are typically arranged in the form of bulk or clusters, which may comprise a greater or lesser number of randomly entangled objects, in a particular and predefined area of the processing center. Then, they are usually transferred to processing means and other specific devices. Their transfer from a particular and predefined area of the treatment center to treatment means is achieved using known transfer means, such as, for example, shovels or conveyors.
  • the method according to the invention is thus fed by these object transfer means to be sorted, said objects to be sorted generally being in the form of clusters.
  • the method according to the invention is implemented to identify and sort a succession of clusters consisting of material objects of different natures, shapes and sizes.
  • the first step a) of the method according to the invention consists in feeding a zone of vision into objects lying generally in the form of clusters, the viewing zone being in the zone of action of a robot provided with one or more gripping members.
  • the viewing zone of the method according to the invention can be confused with the aforementioned particular and predefined area of the processing center, the objects to be sorted then for example directly discharged into this area of vision by a collection vehicle.
  • the supply of this zone of vision into objects can be carried out either according to a batch supply, or according to a continuous supply.
  • batch feed means a batch feed.
  • the feeding of the viewing zone is discontinuous. Only one cluster of objects at a time is processed. In this configuration, until all the objects have been sorted, the viewing area is not powered. However, when the last object to be valorised previously contained in the cluster is grasped by at least one gripping member of said robot, another cluster is moved into the viewing zone to be sorted later.
  • continuous supply means a power supply without deactivation of the means making it possible to supply the vision zone with objects.
  • objects to be sorted are moved to the continuous viewing area.
  • This zone of vision comprises at least two sensors for measuring electromagnetic radiation. It is also possible to add in this zone a source of incident electromagnetic radiation in order to allow an emission level of electromagnetic radiation sufficient by the cluster of objects to capture images representative of the real cluster.
  • the electromagnetic radiation measuring sensors are used to identify the nature of the unitary object located in said receiving area.
  • these electromagnetic radiation measuring sensors can be directly attached to the articulated mechanical arm of the robot.
  • the one or more image captures, made by the electromagnetic radiation measuring sensors are performed when the unitary object is under the influence of one of the gripping members of the robot.
  • the assignment of a nature to the unitary object is made during its movement between the vision zone and the reception zone. During this identification, it is therefore not necessary for the unitary object to be deposited in a particular area.
  • unitary object means any object initially initially contained in the cluster of objects to be sorted and which has been extracted therefrom.
  • step b) of the method according to the invention make it possible, in step b) of the method according to the invention, to produce at least two two-dimensional images of the cluster present in said zone of vision.
  • These two-dimensional images make it possible to reconstruct one or more virtual or electronic images of the cluster of objects in the zone of vision that can be viewed on a screen.
  • step c) of the method according to the invention with the aim of identifying all the possible gripping zones for the gripping member (s) of the robot and of identifying the most gripping member adapted for each of the possible catch zones, said zones being associated with objects present in the cluster.
  • a gripping zone or specific zone, is understood to mean an area that can be grasped by any gripping member of a robot. It should also be noted that several capture zones can be associated with an object contained in the cluster.
  • the processing of these two-dimensional images can, for example, be done using computational software and image processing software.
  • step d) of the method according to the invention After all the gripping zones have been identified through the two-dimensional image processing and analysis, the gripping zones are located in position and orientation, step d) of the method according to the invention.
  • the nature of the object grasped or to be grasped by the robot is assigned between steps e) and i), and consists in capturing at least one two-dimensional image using at least one two-dimensional image sensor and to broadcast at least two-dimensional images on a display screen that can be observed by an operator, the operator assigning a nature to a unitary object displayed.
  • the step of defining the nature of the seized unit object is carried out in the reception zone, and more particularly between the steps h) and i) previously mentioned.
  • the choice of one of the gripping zones, step e) of the method according to the invention can advantageously be performed automatically through the use of an algorithm.
  • the selection of a specific area is performed through the use of a controller, which does not require the intervention of an operator.
  • the robot's trajectory can be calculated using computational software.
  • a particular input path may be associated with each tap area. The method is then advantageous because it is possible to quickly enter and deposit a unitary object.
  • the unitary object associated with this gripping zone is transferred from the viewing zone to a gripping zone. reception.
  • the step of defining the nature of the object in the reception zone can be advantageously achieved by capturing at least one two-dimensional image of the unitary object in the reception area at the reception area. using at least one electromagnetic radiation measuring sensor and diffusing at least one of these two-dimensional images of the unitary object onto a display screen that can be observed by an operator, who in real time attributes a nature to the unitary object displayed in the reception area. In this embodiment, the intervention of an operator is necessary.
  • the same object is moved from the reception area to an outlet according to the nature assigned to it beforehand.
  • the step consisting in defining the nature of the object seized or to be grasped can be performed between the steps e) and f) mentioned above, starting from the virtual image of the cluster of objects from step b), which is broadcast on at least one viewing screen that can be observed by an operator, said operator assigning a nature to said object to be entered within the cluster of objects displayed.
  • a nature is attributed to an object of the cluster when it is located in the zone of vision. In this embodiment, the intervention of an operator is then necessary.
  • one of the capture zones can be targeted by an operator on the viewing screen broadcasting said virtual image representing the cluster located in the viewing zone.
  • the operator can assign a nature to the preselected gripping area, corresponding to a particular object, interactively through the use of a touch screen, or a screen video associated with a voice recognition system or a keyboard type system or any other system allowing the particular selection of a specific area.
  • any of the gripping members of a robot can enter this preselected gripping zone so that move the object from the viewing area to the receiving area.
  • the robot's take-off trajectory can be advantageously calculated by the use of computational software.
  • a particular input path may be associated with each tap area. The method is advantageous because it is possible to quickly grab and deposit objects.
  • the unitary object, associated with this preselected gripping zone is transferred from the viewing zone to a receiving zone.
  • the object can be advantageously moved from the reception area to an outlet predefined according to this nature.
  • the viewing zones of the cluster of objects and the receiving zone of the unitary object are distinct zones, that is to say separate processing center volumes.
  • the totality of the objects contained in the initial cluster is sorted, that is to say that all the objects are grasped by the robot and transits from the zone. from vision to the reception area.
  • all the objects contained in the initial cluster is not necessarily sorted and therefore does not necessarily pass from the viewing area to the receiving area.
  • an outlet for receiving the objects not grasped by any gripping member may be placed near the viewing area to allow its evacuation.
  • all of the objects not grasped by any of the gripping members of the robot is moved to a particular outlet by the use of any transfer means.
  • the device according to the invention is advantageous because it allows sorting remotely avoiding contact between an operator and any object to be sorted.
  • interfaces can be used to allow an operator to control and control the remote sorting device.
  • the device according to the invention makes it possible to sort clusters of objects containing multiple material objects, including waste, which may be of different natures, sizes and shapes.
  • the device according to the invention comprises means for providing a flow of objects in the form of clusters.
  • these means may be belt conveyors or roller conveyors, roller conveyors, ball tables, vibrating tables, devices mechanical means comprising gripping means, or any other device for moving an object cluster from an initial point to another point.
  • Collection bins in which the objects to be sorted are placed can also be used.
  • the bucket is static during the sorting process and during the gripping of each of the objects it contains.
  • a bucket containing new objects to be sorted is conveyed into the viewing zone and thus replaces the first bucket. It is also possible that the bucket is directly filled by a collection truck which avoids the replacement of the bucket.
  • the flow of objects feeds an area of the device according to the invention, called vision zone, in clusters of objects.
  • the device according to the invention further comprises a mechanical robot provided with at least one gripping member making it possible, in a first step, to grasp an object contained in the cluster present beforehand in the zone of vision, each object of the cluster being defined by one or more gripping zones, and in a second step to move the object entered from the viewing zone to another zone, called receiving zone.
  • a mechanical robot provided with at least one gripping member making it possible, in a first step, to grasp an object contained in the cluster present beforehand in the zone of vision, each object of the cluster being defined by one or more gripping zones, and in a second step to move the object entered from the viewing zone to another zone, called receiving zone.
  • the mechanical robot by means of at least one of its gripping members, moves the object associated with this particular catch area of the viewing area to the receiving area.
  • the device according to the invention comprises, especially in the viewing zone, sensors for measuring electromagnetic radiation, which can be measurement sensors in the visible or non-visible spectrum, such as gamma radiation sensors, radioelectric sensors, sensors infrared sensors, ultraviolet sensors, X-ray sensors or cameras.
  • sensors for measuring electromagnetic radiation can be measurement sensors in the visible or non-visible spectrum, such as gamma radiation sensors, radioelectric sensors, sensors infrared sensors, ultraviolet sensors, X-ray sensors or cameras.
  • the electromagnetic radiation measuring sensors are visible spectrum cameras. It should be noted that the aforementioned sensors can also be used in combination.
  • electromagnetic radiation measurements allow the robot to grab a particular object through a preselected grip area. These electromagnetic radiation measurements can also be analyzed and processed by computational software and image processing to allow the identification and location of all possible capture areas of each object contained in the cluster.
  • the electromagnetic radiation measuring sensor (s) may advantageously be connected to image analysis means.
  • an object contained in the cluster may be associated with several gripping zones or specific zones, the calculating and image processing software having the objective of identifying gripping surfaces and not objects.
  • Measurements of electromagnetic radiation can allow the development of one or more two-dimensional images.
  • the device may comprise processing and calculation means capable of automatically associating with a gripping surface selected by an operator or an automaton, the most suitable robot member.
  • the device may advantageously comprise processing and calculation means capable of automatically defining a gripping trajectory of an object by the compatible specific zone, preselected by an operator or an automaton, for a particular gripping member of a mechanical robot.
  • the reception zone may comprise one or more sensors for measuring electromagnetic radiation.
  • reception zone means an area whose volume is accessible by a robot as previously described.
  • the electromagnetic radiation measurement sensors used are sensors making it possible to reproduce one or more virtual or electronic images of the object located in the reception zone.
  • these sensors may be infrared or near infrared radiation sensors, ultraviolet radiation sensors, X-ray sensors, electromagnetic radiation sensors according to the visible or non-visible spectrum, gamma radiation sensors, laser scanning distance sensors, and preferably the electromagnetic radiation measuring sensors are visible spectrum cameras.
  • the aforementioned sensors can also be used in combination.
  • the images recovered by one or more of the aforementioned sensors can be viewed on a touch screen.
  • This touch screen can for example comprise two zones.
  • a first zone can be used to display an image from electromagnetic radiation measuring sensors.
  • a second area of the screen includes sub-categories respectively corresponding to predetermined natures.
  • an operator can assign to the unit object that he displays on said touch screen a particular nature by selecting a particular subcategory.
  • the video screen is not tactile, but is associated with a voice recognition system or a keyboard type system or any other system for attributing a particular nature to the object displayed on said screen.
  • the seized object is evacuated from said receiving area to an outlet, by means of routing according to the nature that has been assigned to it.
  • conveying means may be belt conveyors or roller conveyors, roller conveyors, ball tables, vibrating tables, mechanical devices comprising gripping means, or any other device for moving a unitary object of an initial point to another point.
  • One of the advantageous means of routing is the same mechanical robot used to move the cluster object from the viewing area to the receiving area.
  • the object transiting on these conveyance means is moved into a predefined outlet according to the nature that has been assigned to it.
  • the outlets may include manipulator arms or robots adapted to the characteristics of the objects to be extracted. These outlets may also include pneumatic ejection devices conveyor belt jets, air nozzles, referral systems, pushers using jacks, traps, robots. Extraction means combining different aforementioned ejection devices can be applied.
  • the device according to the invention may comprise means for detecting and tracking the movements and positions of a particular object, between the gripping device of a robot and an outlet, as a function of time.
  • These means may comprise electromagnetic radiation measuring sensors as mentioned above.
  • FIGS. figures 1 and 2 robotic solutions marketed by the company Sileane or the company AKEO.
  • These devices comprise a robot which comprises a polyarticulate system provided with one or more gripping members capable of grasping an object by a specific area. To facilitate the reading of the figures, only one gripping member is shown on the figures 1 and 2 .
  • the robot may comprise at least two gripping members, the first using a so-called “suction cup” technology and the other a so-called “clamp” technology.
  • This robot is not the one illustrated in the figures.
  • the robot comprises a single gripping member using the "clamp" technology.
  • the figure 1 describes a device 10 according to the invention, for extracting particular objects contained in a cluster, depending on their nature.
  • the cluster of objects includes a bulk volume of heterogeneous objects placed randomly so that the objects become entangled.
  • the cluster of objects for processing is arranged on a first belt conveyor 11.
  • This first belt conveyor 11 is able to feed a zone, called the vision zone 12, into a cluster of material objects.
  • This viewing zone 12 is irradiated with electromagnetic radiation from radiation sources in order to produce one or more images of the cluster of objects situated in the viewing zone 12.
  • the device of the figure 1 comprises sensors for measuring electromagnetic radiation in order to produce one or more two-dimensional images of the cluster of objects situated in the viewing zone 12.
  • the electromagnetic radiation measuring sensors are configured to acquire successive two-dimensional images of the cluster located in the viewing zone 12. It should be noted that the captured images cover the entire cluster of objects.
  • the images are captured through the use of a camera 19a in visible spectrum.
  • One or more of said images of the cluster of captured objects are then processed and analyzed to allow the identification and location of each possible setting area by a gripping member 18 of the polyarticulate robot 14.
  • the sensors for measuring electromagnetic radiation are, for example, coupled to means of processing, which may be computers and other software, configured to process images from said sensors.
  • a gripping member 18 grasps the defined gripping zone.
  • the device of the figure 1 can also use computational software and image processing to also allow to define the fastest and shortest possible capture trajectory, for a given gripping member 18.
  • the speed of the flow of objects towards the viewing zone 12 is possibly not constant.
  • the speed of the flow of objects decreases, or even vanishes, so that the sensors present in the viewing zone 12 can capture at least two two-dimensional images representing the cluster of objects.
  • the sensors After each capture, the sensors capture new images of the cluster of objects. In this way, the object to be captured, which could be moved by the input of a previous object, will still be located and seized.
  • the first belt conveyor 11 can be put back into operation in order to bring into this viewing zone 12 a new cluster of objects to be sorted.
  • the totality of the objects contained in the initial cluster to be sorted passes from the viewing zone to the reception zone after having been grasped by the robot.
  • each object deposited in this reception zone 13 is assigned a particular nature. This allocation is made thanks to the intervention of an operator who can use an interface. This interface allows the operator to assign a nature to a given object at a given time.
  • the interface is coupled to one or more sensors for measuring electromagnetic radiation.
  • the two-dimensional image sensor is a camera 19b operating in the visible spectrum.
  • This camera 19b is connected to a screen and the captured images appear on this screen.
  • These images can be preprocessed by computer to present a certain contrast to the operator and thus give him indications for example on properties or the nature of said object ( figure 3A ).
  • an object is plastic
  • a specific color or texture that facilitates recognition of the operator can be assigned to the object. This step is particularly interesting for subjects whose effectiveness of recognition does not have good performance.
  • the second screen area may further comprise a subcategory 23 that does not correspond to any particular nature, but in which an operator can classify all objects regardless of their nature.
  • This subcategory 23 can then complement the other subcategories or be the only one available. In the latter case, possibly, it is possible to have only one outlet 16b in which are ejected all objects located on the second conveyor belt 15.
  • the object is directed to a predefined outlet 16, at first, thanks to the use of a second conveyor belt 15 and in a second step through the use of one or more extraction means 17.
  • the extraction means 17 make it possible to extract the objects situated on the second belt conveyor 15 and to route them to the appropriate outlets 16 intended to receive them.
  • the figure 1 shows that these outlets 16 comprise pneumatic ejection devices using jacks.
  • means can be used to record and follow the movements and positions of a particular object, between the gripping device 18 of a robot 14 and an outlet 16, as a function of time.
  • figure 2 describes a device 20 according to the invention for selecting in particular one or more objects contained in a cluster, according to the second embodiment of the method according to the invention.
  • the cluster of objects includes a bulk volume of heterogeneous objects placed randomly so that the objects become entangled.
  • the cluster of objects for processing is arranged on a first belt conveyor 11.
  • This first belt conveyor 11 is able to feed a zone, called the vision zone 12, into a cluster of material objects.
  • a visible spectrum camera 19c for producing one or more two-dimensional images of the cluster of objects situated in the viewing zone 12.
  • the images captured by the camera 19c cover the entire cluster of objects.
  • the camera 19c is connected to a screen and the captured images appear on this screen. These images can be preprocessed in order to present a certain contrast to the operator and thus give him indications, for example on properties or the nature of said object selected by the designation of a particular gripping area ( figure 3B ).
  • an object is plastic
  • a specific color or texture that facilitates recognition of the operator can be assigned to the object. This step is particularly interesting for subjects whose effectiveness of recognition does not have good performance.
  • the camera 19c is, for example, coupled to processing means, which may be computers and other software, configured to process the images from the camera 19c and thus allow the identification and location of all the zones take possible associated with each object of the cluster.
  • processing means which may be computers and other software, configured to process the images from the camera 19c and thus allow the identification and location of all the zones take possible associated with each object of the cluster.
  • the screen on which the images captured by the camera 19c appear is tactile.
  • the second screen area may include a sub-category 23 that does not correspond to any particular nature, but in which an operator can classify all the objects selected and previously contained in the cluster. In this last case, it is possible to have only one outlet 16b in which are ejected all the objects that have been deposited in the receiving area 13 located on the second conveyor belt 15.
  • the possible gripping zones are represented on the first zone of said touch screen 20 by virtual circles.
  • an operator may designate a finger pointing area on the touch screen 20.
  • the selection of a gripping zone 25 can be corrected. For example, selecting an already selected tap area 25 deselects it.
  • an operator can assign a nature to a given object.
  • the assignment of a nature to a particular engagement zone is as follows. An operator first selects a take zone 25 and then selects a subcategory 23 of allocation. According to this configuration, the selected gripping zone 25 is marked with a graphical sub-referent such as, for example, a colored circle 24.
  • unitary category that is to say that a single category is assigned automatically to all the objects designated by an operator after having selected a gripping zone. possible of an object contained in the cluster.
  • unitary category is previously defined by the operator.
  • each object has been assigned a nature.
  • this second conveyor belt 15 is in permanent operation, an object grasped by a gripper 18 of a robot 14, and then deposited on the second belt conveyor 15, is very quickly set in motion. In this way, each of the objects seized in the initial cluster succeeds throughout this second conveyor belt 15.
  • the second belt conveyor 15 thus makes it possible to extract the unitary object previously deposited in the receiving zone 13.
  • each object Since each object has been assigned a nature, each of them can be moved to a specific 16b outlet.
  • the outlet 16b comprises a robot provided with a gripping member capable of grasping any object located on the second conveyor belt 15 and to move it into a predefined outlet 16b according to the nature that has been assigned to it.
  • the robot 14 is used as extraction means 17.
  • means can be used to record and follow the movements and positions of a particular object, between the gripping device 18 of a robot 14 and an outlet 16b, as a function of time.

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EP16305055.2A 2015-02-10 2016-01-21 Selektives sortierverfahren und entsprechende vorrichtung Active EP3056288B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1551084A FR3032366B1 (fr) 2015-02-10 2015-02-10 Procede de tri selectif

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EP3056288A1 true EP3056288A1 (de) 2016-08-17
EP3056288B1 EP3056288B1 (de) 2018-03-14

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CN108144863A (zh) * 2016-12-02 2018-06-12 朱塞佩·普里泰利G.P.咨询简易两合公司 家具行业的面板生产线中精益生产的优化制造方法和系统
CN110076768A (zh) * 2018-01-25 2019-08-02 发那科株式会社 物品搬运系统以及机器人系统
CN110856846A (zh) * 2018-08-24 2020-03-03 胜宏科技（惠州）股份有限公司 一种pcb板自动分拣系统及方法
CN111805309A (zh) * 2020-07-02 2020-10-23 哈尔滨工业大学 用于硬脆单晶圆柱外圆超声振动辅助磨削的全自动磨床
US11660762B2 (en) 2018-05-11 2023-05-30 Mp Zenrobotics Oy Waste sorting robot

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NL2011066C2 (en) * 2013-06-28 2015-01-05 Ig Specials B V Apparatus and method for sorting plant material.
FR3031048B1 (fr) * 2014-12-24 2016-12-30 Solystic Machine de tri postal avec une entree d'alimentation comprenant un bras robotise et un convoyeur a plat incline
FR3032365B1 (fr) * 2015-02-10 2017-02-03 Veolia Environnement-VE Procedure de tri selectif
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US20160228921A1 (en) 2016-08-11
US9682406B2 (en) 2017-06-20
DK3056288T3 (en) 2018-04-23

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