WO2012164126A1 - Station multitâche de collecte automatique pour le tri de matières en vrac - Google Patents

Station multitâche de collecte automatique pour le tri de matières en vrac Download PDF

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Publication number
WO2012164126A1
WO2012164126A1 PCT/ES2012/070375 ES2012070375W WO2012164126A1 WO 2012164126 A1 WO2012164126 A1 WO 2012164126A1 ES 2012070375 W ES2012070375 W ES 2012070375W WO 2012164126 A1 WO2012164126 A1 WO 2012164126A1
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WO
WIPO (PCT)
Prior art keywords
materials
station
conveyor belt
robots
detection unit
Prior art date
Application number
PCT/ES2012/070375
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English (en)
Spanish (es)
Inventor
Eric Van Looy
Original Assignee
Eric Van Looy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eric Van Looy filed Critical Eric Van Looy
Publication of WO2012164126A1 publication Critical patent/WO2012164126A1/fr

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Classifications

    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
    • B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
    • B65G15/14—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts the load being conveyed between the belts
    • 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
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • 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
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/009—Sorting of fruit

Definitions

  • the present invention relates to a multitasking automatic collection station for the classification of bulk materials using a robot for the separation of all types of bulk material, such as minerals, metals, plastics, wood, stone, glass, textiles, or tobacco and of streams or other bulk materials; and using one or more sensor technologies for the detection and analysis of materials that pass through a conveyor belt.
  • This station is applicable in the field of handling and classification of different bulk materials and especially in the recycling industries.
  • Classification facilities for all types of diverse primary and secondary materials are not currently known, where a large amount of valuable material and important resources are collected for growing worldwide markets and industries for recycling and prepared for the production of construction and consumption goods such as wood, plastics, metals and textiles from municipal, industrial, automotive or hospital, as well as demolition and construction waste.
  • One or more main conveyor belts are arranged in a selection booth in which operators are standing, on both sides of a selection belt, to manually select objects that are of interest for their value or because they are undesirable impurities.
  • sorting facilities are the selection lines for minerals and stones, food lines, tobacco and the recycling of clinical waste, demolition and waste from the construction of waste, homes and industry, WEEE or ELV plants.
  • Manual classification is a very monotonous job, and if the operator becomes ill or distracted, the result of the classification is not correct and the quality of production varies.
  • the materials to be ordered or separated are dangerous and unhealthy for human beings in general, so these manual sorting jobs are complicated and require additional health protection equipment and facilities.
  • classification companies have a constant need to look for new workers and train them at work.
  • sorting machines are applied with the use of sensors for the detection and identification of specific materials by color, brightness, shape, size, shape, physical characteristics, surface properties, molecular composition or reflection properties or even your combinations
  • This invention is to improve the production process for the recovery of valuable resources, on the one hand and on the other hand, reduces dangerous and unhealthy work
  • the inventors of this invention are aware of the existence of sorting machines and inventions in sorting machines based on sensors, but this invention is based on sorting automation, and manual selection does not replace automatic sorting machines such as It was mentioned above.
  • the automatic collection device will be able to replace manual sorting and increase recycling and / or current sorting capacity of valuable material from different inputs, such as classification of waste or primary material sequences.
  • European Patent EP 1829 621 A1 and US Patent are known.
  • US2007 / 0208455 A1 referring to "a system and method for classifying waste material elements" which claims to be able to replace existing sorting machines using air jets to expel material parts, which is in fact impossible.
  • the robot can make a maximum of 60-120 selections per minute in a simple task, while the air jets can easily reach more than 200 cycles per second.
  • the aforementioned invention also does not mention the possibility of replacing dangerous jobs with manual selection.
  • document WO2011 / 161304 A1 "Method for the selection of physical objects in a robot system” relates to many signals from computerized sensors to be able to collect the parts and to control the collection system as well as to find the faults of this system. It says nothing about the material coming from a conveyor belt, nor about the weight and size of the materials.
  • the robot scheme of this background shows a stationary system and does not mention anything about how to move the currents of materials to be classified.
  • the multitasking automatic collection station for the classification of bulk materials object of the invention has characteristics oriented to cover the deficiencies of the systems described in the aforementioned background, and to provide a realistic and useful solution.
  • the invention makes it possible to obtain a new way and, above all, a more economical way to separate and obtain resources from waste.
  • the main advantage of this invention is the use of robots instead of humans for the classification of bulk materials in a recycling and mining process, avoiding the exposure of people to unhealthy situations and materials, and obtaining greater productivity taking into account the robots could take charge of their jobs and work continuously without getting sick or lowering their performance due to fatigue.
  • the technical and commercial aspects of the invention should also be highlighted.
  • the automatic collection station can either be placed behind existing separation technologies (unit pre-preparation), such as a magnet drum or behind a crusher unit followed by a magnetic separator or placed directly behind a screen or accelerator.
  • unit pre-preparation such as a magnet drum or behind a crusher unit followed by a magnetic separator or placed directly behind a screen or accelerator.
  • the input fractions are fed on the conveyor belt of the automatic collection station by means of a conveyor belt or a vibrating feeder.
  • This automatic process for the recovery and separation of important resources helps us increase the quality and quantity of recycled materials for the production of new materials, as well as the use of renewable energy and fuel.
  • With the improvement of automatic classification in the middle of the substitution of dangerous jobs and unhealthy human ordering by robot technology we are able to increase our production and reduce the disease and inactivity of the time machine.
  • the total costs for manual sorting will dramatically reduce due to low investment costs, as well as low operating costs.
  • This automatic sorting device can be installed after collecting material flows, as well as post material crusher streams. For the detection and separation of garbage or unacceptable materials in the incoming material stream after collection, this device is able to automatically separate these pieces and classify them into fractions of different materials. This is also possible with crushed materials from any recycling plant or facility, manual harvesting is done and is currently required.
  • This bulk material handling and classification station can be used in different industries for the recovery and management of important resources used by sensor technologies to identify the shapes and forms, characteristics and location of the material placed on a conveyor belt. or the transport system. In combination with different types of industrial robots, this station is capable of handling all types and sizes of bulk materials and ordering them in numerous different product fractions. With a device for prior manipulation of the stream of materials to be separated, located before the material detection unit, the materials are prepared and placed in a monolayer that allows subsequent identification of the pieces or portions of material to be subsequently separated by part of the robots in a final separation zone.
  • FIG. 1 shows a schematic plan view of an automatic sorting station, equipped with a device for prior handling of materials, a unit for detecting materials to be separated and two robots for the extraction of selected materials from the flow of materials to classify.
  • FIG. 2 shows a schematic elevational view of an embodiment of the material handling device, arranged at the entrance of the station's conveyor belt, which extends and separates the materials in a monolayer for later identification in the detection unit
  • FIG. 3 shows a partial elevation view of the station in which an example of embodiment of the detection unit can be seen, with an electromagnetic induction sensor unit and a laser camera.
  • FIG. 4 shows a view analogous to the previous one with a variant embodiment of the detection unit including in this case an induction sensor unit combined with an NIR (Near Infra Red) type optical sensor.
  • NIR Near Infra Red
  • the station comprises a feed conveyor belt (1) through which a stream of bulk materials enters which it is desired to classify, being at its exit a main conveyor belt (4), and which moves at a higher speed than the mentioned feed conveyor belt (1).
  • a detection unit (2) On the feeding conveyor belt (1) there is a detection unit (2) that recognizes them and determines which must be separated from said material stream.
  • This detection unit (2) comprises recognition sensors based on physical or chemical characteristics of the materials to be classified and are associated with an indoor computer that executes a recognition program.
  • the collection areas serve two robots (6), comprising deposit belts (5) parallel to both sides of the main conveyor belt (4) so that the robots (6) deposit the materials classified in the swept on both sides of his arms.
  • these collection areas also comprise a collection conveyor belt (3) in a transverse position below the main conveyor belt (4), this collection conveyor belt (3) receiving the classified materials of the deposition belts (5) for extraction outside the station.
  • a discharge conveyor belt (7) that moves the unclassified materials to another step of the installation, such as another station specialized in a different material.
  • This detection unit (2) is part of the complete classification facility and is configured differently for each classification task. In general it is composed of a conveyor belt (1) where the material is spread in a monolayer before moving on to the detection unit (2).
  • the material flow passes through the conveyor belt through the detection unit (2) where it can be detected and analyzed for its color, size, weight, brightness, content, surface composition, molecular characteristics or other combinations of properties depending on the sensor or sensors incorporated in said detection unit.
  • the information captured by the sensors is sent to the process unit (9) that uses the information to identify the characteristics of the pieces of scanned material.
  • This information is processed by a fast processor built in the control cabinet of the installation. This information is used to view detailed information about the characteristics of this piece of material and its position on the conveyor belt. If this information corresponds to the software configuration, this data is used to determine which part has to be selected and extracted by the automatic classification robots (6) in the second part of the classification installation, that is to say on the conveyor belt main (4).
  • the automatic separation unit is installed with one or more robots (6) that are perfectly assembled for the job. This means that the type and size of the robot (6), as well as the collection tool is carefully chosen for the respective job.
  • the collection robot (6) will select and grab the selected material part of the main conveyor belt (4) in operation and put this part in the placed material box or in an area that takes the material to a next transport system or any Another collection system. The remaining material will remain on the conveyor belt, and will be transported to the next treatment or is ready for trade.
  • the intellectual software which is capable of giving the correct signals so that the robot arm (6) can follow the material on the main conveyor belt (4) and use the correct gripping device of the tool Choose this command to use the correct collection tool that is selected by the software that obtains the information about the material size and shape and give the commands to one of the tools on the arm of the multitasking robot (6).
  • An encoder mounted on the main conveyor belt (4) constantly measures the linear speed of the belt so that you can use the exact operating speed to calculate the necessary speed of the robot arm (6) and the start time so that It can be positioned at the right time at the beginning of the collection area of the collection unit on the selected material part before the material part is removed and dropped by the correct exit of the installation. It is the combination of this special software developed and the special multi-task arm of the robot. This special design of the robot arm allows to have several different collection instruments.
  • This system can pick up compact and heavy parts, large pieces and flat pieces, and is even able to take out long sheets of plastic and wrapping paper or plastic wrap. This is why the present invention is a suitable option for the classification of waste from homes and industries.
  • Difficult parts of materials such as wrap sheets are gripped with a special clamp (61) and placed in front of a suction hose (8) that sucks the sheet assembly.
  • a suction hose (8) that sucks the sheet assembly.
  • the invention allows for increased production of material flows, and at the same time Increase the quality of our resources with simple means in a highly safe and economical way.
  • the combination of several proven technologies and sensors with a completely new way of using existing industrial robot technology will help reduce dangerous work considerably, as well as the loss of personnel caused by illness and monotonous work. This will reduce dirty and unhealthy work for human workers in current sorting plants.
  • Figure 2 shows a material handling device (10), arranged at the entrance of the feed conveyor belt and comprising a vibrating feeder (11) for extending the material to be separated in a monolayer.
  • the vibrating feeder (2) must have enough space and length to carry the material in a single layer at the end of the feeder, before it descends to the feed conveyor belt (1 ).
  • the transport speed of the vibrating feeder (11) is the other factor that helps arrange the flow of material in a monolayer. It is very important to choose the correct position of the vibrating motors (12) located below the vibrating feeder tray (11); here the energy transmission of the motor force has to enter the feeder body a few millimeters before the center of gravity and at the correct angle, between 35-38 0 with respect to the horizontal.
  • the point of application of the force line of said motors can be adjusted for the best possible propagation effect towards the end of the vibrating tray.
  • a 3D laser camera (14) placed on the end of the tray can be seen as the control device of the monolayer and height of the materials.
  • the addition of this option in the pre-handling phase of the materials to be classified helps the control process of the control facility, which guarantees continuous quality.
  • the laser camera (14) will send a signal to the process unit (9) of the installation in which the measurement of the material monolayer is controlled online and if the changes are detected, or if the singularization of the material stream is outside the automatically prescribed tolerance field, adjusted by means of a variable frequency converter , which controls the frequency of the electric current supplied to the vibrating motors (12) of the vibrating feeder. In this way the speed of the vibrating feeder (11) is adjusted so that it returns within the norm.
  • the transport speed of the vibrating feeder varies between 0.3 - 0.4 m / sec.
  • the standard speed of the automatic collection station varies between 0.5-1.0 m / sec. which brings us to the next step in the material handling section previously.
  • Adjusters (16) on the slide ramp (15) allow adjusting the acceleration and optimizing the transition of the product to the feed conveyor belt (1).
  • the smooth change of sliding to the belt ensures that the length of the conveyor can be kept to a minimum.
  • the second phase of this invention is the part of the installation where the material stream in the detection unit (2) is analyzed.
  • the part of the detection unit may be of different configurations, combinations and compositions, as shown in Figures 3 and 4.
  • the detection unit (2) comprises a sensor unit of electromagnetic induction (17) placed under the supply conveyor belt (1).
  • the material located at the top of the supply conveyor belt (1) passes over this electromagnetic induction sensor unit (17), which is composed of multiple 25 mm induction sensors. or 12.5 mm. diameter.
  • Two rows of these sensors are arranged transversely aligned with respect to the conveyor belt and are built in a special housing at a typical distance from each other, so that it cannot interfere with its electromagnetic field and at the same time give full coverage of the width of the machine , so that all the parts transported by the belt pass through one of the electromagnetic fields of the sensor coils located below the belt.
  • the sensor of the classification system is capable of detecting all metals.
  • an installation can be arranged 3D laser camera system (18) that give additional information about the sizes and heights of the particular parts to be separated by the robots (6).
  • Both the information of the induction sensors (17), and the optional information of the 3D laser camera (18) goes to the central computer process unit (9) located in the control cabinet.
  • the information received will be analyzed in real time and used with the program configuration to make the correct classification decision. This means that the positioning of the robot arm (6) on the piece of material on the main conveyor belt (4), as well as the choice of the pick-up tool from the multitasking arm, which is mounted on a rotor part in the end of the robot arm.
  • the robot or robots (6) will be able to use the signals from the induction sensors (17) through the process unit (9) with a suitable clamp (61) to select the part of the material stream and leave it fall into the outlet duct on the right.
  • a version capable of combining the information of induction sensors (17) and another optical sensor (19) is shown as a near infrared sensor (NIR Near Infra Red), a color camera , or a laser camera.
  • NIR Near Infra Red a near infrared sensor
  • color camera a color camera
  • laser camera a laser camera
  • an additional variation is contemplated consisting of the possibility of placing a unit with a second sensor on the slide (15) and on the conveyor belt, so that the material flow on the conveyor belt can be scanned and analyzed from from both sites at the same time.
  • the induction sensors (17) located below the belt determine that all metallic material will be recognized. If a piece of metallic material passes to Through the electromagnetic field of one of the sensors it will always be detected and an electrical signal will be sent to the electronics of the process unit (9).
  • the induction sensors (17) and a second optical sensor unit (19) are placed in the same position on the conveyor belt, it can be used to obtain more information about the characteristics as well as the size and the shape of the material to obtain the best possible classification results and the correct choice of the clamp system (61).
  • This optical sensor unit (19) is an additional module and can be used for various important information of the particular material stream to be sorted.
  • a stream of industrial waste with a mixed feed stream may contain different material, such as glass, plastics, wood, metals, paper and carbon in all kinds of various shapes and forms.
  • a metal sensor unit induction sensor
  • a near-infrared sensor has been represented.
  • NIR near Infra Red
  • the first model is built with spectrometers with dispersion grids, using infrared sensor arrays for simultaneous registration of the complete spectra. These are particularly suitable for permanent analytical monitoring of polymer processes and also increasingly with mineral raw material.
  • the advantages of the method are the rapid, non-contact measurement of the properties of the material in the reflection, the analysis without sample preparation and the ability to measure in rapid motion.
  • NIR spectra are characterized by broadband spectral attributes and low molar absorption coefficients.
  • NIR absorption spectroscopy is generally applied to identify material, but also increasingly for quantitative examinations.
  • the industry increasingly uses near-infrared spectrometers with dispersion gratings for process control and quality control.
  • NIR spectroscopy is today also widely used in the classification of different plastics in recycling as well as in the food industry. But wood and different carbon material can also be detected.
  • the other option is to use a near infrared camera.
  • near infrared spectrometers with concave holographic grids the spectrum is recorded by a specially designed line camera for NIR spectroscopy.
  • the measurement results are transferred to a computer and analyzed there.
  • an optical multiplexer precedes the spectrometer.
  • the task of the multiplexer is that to change the probes key, one after another to the spectrometer.
  • the information received will be analyzed in real time and used with the program settings to make the correct classification decision. This means that the positioning of the robot arm on the piece of material on the belt, as well as the choice of the pick-up tool from the multi-task arm, which is mounted on a rotating part at the end of the robot arm.
  • the robot (s) (6) will be able to use the signals from the sensors (3) through the control unit (7) with a suitable clamp (6) to select the part of the material stream and drop it in the outlet duct on the right.
  • the rotary clamp tool is a combination of different clamping systems and industrial vacuum tools, with standard systems and tools of the supplier industries, but also own creations designed. Due to the wide variety of pieces of material a combination grip tool makes sense.
  • the material on the conveyor belt that was not selected and collected will eventually fall into a discharge belt that goes to a next treatment or another sorting step or to a collection compartment or container at the end of the sorting line.
  • the material stream is the accept stream.
  • the feed conveyor belt (1) can be constituted by an initial section of the main conveyor belt (4), since this does not affect the essentiality of the invention.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Sorting Of Articles (AREA)

Abstract

La présente invention concerne une station multitâche de collecte automatique pour le tri de matières en vrac qui comprend: un dispositif de manipulation (10) d'un courant de matière à trier, une bande transporteuse d'alimentation (1) des matières vers une unité de détection (2) qui comprend une unité ou une combinaison de capteurs distincts servant à la détection des matières à trier et des robots (6) servant à séparer les matières identifiées par l'unité de détection. La station comprend une unité de traitement (9) qui gère le fonctionnement des différents éléments de la station.
PCT/ES2012/070375 2011-05-27 2012-05-25 Station multitâche de collecte automatique pour le tri de matières en vrac WO2012164126A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201130874A ES2395795B1 (es) 2011-05-27 2011-05-27 Estación automática de clasificación de materiales.
ESP201130874 2011-05-27

Publications (1)

Publication Number Publication Date
WO2012164126A1 true WO2012164126A1 (fr) 2012-12-06

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CN104741322A (zh) * 2015-03-21 2015-07-01 河南摩西机械制造有限公司 一种铁锅分拣装置
CN105798910A (zh) * 2016-05-09 2016-07-27 沙洲职业工学院 一种搬运分拣机器人控制装置
CN106000917A (zh) * 2016-07-15 2016-10-12 安徽东锦资源再生科技有限公司 废旧纤维制品智能颜色分拣装置及分拣方法
CN106245125A (zh) * 2016-09-12 2016-12-21 安徽新创智能科技有限公司 废旧衣物环保高效再生系统及再生方法
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CN108580321A (zh) * 2018-04-18 2018-09-28 江苏经贸职业技术学院 一种物流智能分拣装置
CN109365318A (zh) * 2018-11-30 2019-02-22 天津大学 一种多机器人协作分拣方法及系统
CN109482509A (zh) * 2018-10-12 2019-03-19 丰业迪睦斯（芜湖）汽车部件有限公司 弹簧和块检测和装盖板机构
CN110624835A (zh) * 2019-09-05 2019-12-31 深圳蓝胖子机器人有限公司 用于重力分拣的末端执行器、分拣系统及分拣方法
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CN111268362A (zh) * 2020-02-20 2020-06-12 倪德荣 一种医院输液配药完成后输送传递装置
CN112642733A (zh) * 2020-12-07 2021-04-13 广东弓叶科技有限公司 一种机器人一拖多的抓取方法、装置及系统
DE102019132931A1 (de) * 2019-12-04 2021-06-10 Hauni Maschinenbau Gmbh Sortiersystem und Sortierverfahren für Blatttabak
US20220203405A1 (en) * 2019-04-22 2022-06-30 Jx Nippon Mining & Metals Corporation Processing method and processing device for electronic/electrical device component scrap
GB2612653A (en) * 2021-11-09 2023-05-10 Danu Robotics Ltd Robotic system and method for picking and/or sorting objects

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