WO2022058281A1 - Procédé de manutention d'un objet dans une distribution d'amplitude de pression - Google Patents

Procédé de manutention d'un objet dans une distribution d'amplitude de pression Download PDF

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Publication number
WO2022058281A1
WO2022058281A1 PCT/EP2021/075102 EP2021075102W WO2022058281A1 WO 2022058281 A1 WO2022058281 A1 WO 2022058281A1 EP 2021075102 W EP2021075102 W EP 2021075102W WO 2022058281 A1 WO2022058281 A1 WO 2022058281A1
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WO
WIPO (PCT)
Prior art keywords
pressure amplitude
amplitude distribution
constituent
steady
time
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PCT/EP2021/075102
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English (en)
Inventor
Marcel Alexander-Schuck
Marc Röthlisberger
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ETH Zürich
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Publication of WO2022058281A1 publication Critical patent/WO2022058281A1/fr

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Classifications

    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K15/00—Acoustics not otherwise provided for
    • G10K15/04—Sound-producing devices
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/18—Methods or devices for transmitting, conducting or directing sound
    • G10K11/26—Sound-focusing or directing, e.g. scanning
    • G10K11/34—Sound-focusing or directing, e.g. scanning using electrical steering of transducer arrays, e.g. beam steering
    • G10K11/341—Circuits therefor
    • G10K11/348—Circuits therefor using amplitude variation

Definitions

  • the invention relates to the field of handling, e.g., levitating of objects, based on acoustic pressure fields and more particularly to manipulation of objects in a contactless manner. It relates to methods and devices according to the opening clauses of the claims. Such methods and devices can find application, e.g., in robotics or in various industries, such as in handling and placing of electronic components, or in various fields of science, where small objects or portions of material shall be handled, e.g., in a contactless manner. From J. Nakahara et al.
  • the object is held in a first stable position of a first twin trap, then the pressure amplitude distribution is changed to produce a second twin trap, and the object follows the change and finds a second stable position. Subsequently, the pressure amplitude distribution is changed again to produce a third twin trap, and the object follows the change and finds a third stable position, and so on.
  • the object can be lifted from a table in a number of steps in which a pressure amplitude distribution constituting a horizontal twin trap remains unchanged long enough to enable the object to reach a stable (steady-state) position in the trap before the pressure amplitude distribution is changed in order to constitute a different horizontal twin trap.
  • the position in which the object is held in the time- variable pressure amplitude distribution is a stable (steady-state) position in both distributions, i.e. in the horizontal twip trap as well as in the vertical twin trap.
  • the inventors recognized a need for new ways of handling objects in pressure amplitude distributions. This concerns in particular ways, which enable an increased flexibility in the handling of objects and/or ways of handling objects in a more safe and/or smooth way.
  • One possible object of the invention is to create new ways of handling objects, e.g., of manipulating objects in a contactless manner.
  • Another possible object of the invention is to create new ways of levitating objects.
  • Another possible object of the invention is to create new ways of shaping a levitating amount of a liquid.
  • Another possible object of the invention is to make possible to construe pressure amplitude distributions in a very flexible way, such as to tailor pressure amplitude distributions according to needs.
  • Another possible object of the invention is to make possible to morph pressure amplitude distributions, such as to morph from one pressure amplitude distribution to another, different pressure amplitude distribution.
  • Another possible object of the invention is to enable continuous or quasi-continuous modifications of pressure amplitude distributions.
  • Another possible object of the invention is to make possible to handle, and in particular to contactlessly manipulate objects in a particularly stable or safe fashion.
  • Another possible object of the invention is to make possible to handle, and in particular to contactlessly manipulate objects in a particularly smooth fashion.
  • Another possible object of the invention is to enable to let objects levitate which are relatively heavy.
  • Another possible object of the invention is to enable changing a shape of a levitating amount of a liquid, in particular to produce shape changes of a levitating amount of a liquid in a well-controlled and/or precise and/or smooth fashion.
  • a corresponding method for handling an object by means of a device a method for translating an object by means of a device, and a device for handling an object shall be provided.
  • PAD pressure amplitude distribution
  • CPAD designates “constituent pressure amplitude distribution”
  • ECP AD designates “earlier constituent pressure amplitude distribution”
  • SCPAD designates “subsequent constituent pressure amplitude distribution”
  • FCPAD designates “final constituent pressure amplitude distribution”.
  • the inventors recognized in a first aspect of the invention that it can be useful to change pressure amplitude distributions (PADs) in a very fast fashion, namely so fast that an object cannot fully follow the changes, e.g., such that the object, because of the inertia of its mass, hardly changes its position despite the change of the PAD to which the object is exposed.
  • This can make possible to “mix” two or more pressure amplitude distributions referred to as constituent pressure amplitude distributions (CPADs) or partial pressure amplitude distributions, such that a time-variable PAD is produced which effectively can act on the object like a single (time-invariant) PAD, because of the inertia of the object.
  • CPADs constituent pressure amplitude distributions
  • CPADs constituent pressure amplitude distributions
  • partial pressure amplitude distributions such that a time-variable PAD is produced which effectively can act on the object like a single (time-invariant) PAD, because of the in
  • said single PAD - and therefore also the time-variable PAD - can be understood as a kind of superposition or overlay of its CPADs.
  • This can make possible to produce (time-variable) PADs which act on an object like a timeinvariant (constant) PAD which however may be not or only difficultly producible in form of a time-invariant (constant) PAD.
  • the time-variable PAD can be adjusted or changed. This way, it is for example possible to create smooth variations of PADs.
  • the inventors recognized in a second aspect of the invention that it can be useful, e.g., for translating an object, to combine two or more PADs which are dissimilar to one another.
  • the terms «translating» and «dissimilar» will be explained further below in more detail.
  • a much increased flexibility in moving an object from one location to another can be achieved, when switching from a first PAD to a further PAD, wherein these are dissimilar PADs.
  • two CPADs can be mutually dissimilar PADs, wherein the object cannot follow the change from the one to the other; and therein, a translation of the object is not necessarily involved; e.g., the object can remain in one and the same position.
  • the method for handling an object by means of a device comprising a plurality of electroacoustic transducers can comprise producing a time-variable pressure amplitude distribution by producing by means of the device a time sequence of two or more constituent pressure amplitude distributions.
  • a change from an earlier constituent pressure amplitude distribution (ECP AD) to a subsequent constituent pressure amplitude distribution (SCPAD) is accomplished before the object reaches a steady-state position of the ECPAD.
  • ECP AD constituent pressure amplitude distribution
  • SCPAD constituent pressure amplitude distribution
  • the time of presence of the ECPAD can be too short for the object to arrive at a steady-state position of the ECPAD.
  • the reason why the object does not reach a steady-state position of the ECPAD can in particular be the inertia of the object.
  • the changes in the PAD can simply be too fast for the object to follow, or, at least, to fully follow these changes, such as to reach a steadystate position of the ECPAD.
  • the subsequent constituent pressure amplitude distribution can in particular be the constituent pressure amplitude distribution which directly follows the earlier constituent pressure amplitude distribution.
  • the handling of the object can be, e.g., a positioning of the object. It can be, e.g., a manipulation of the object.
  • the object levitates during the method.
  • the object is in contact with a surface during the method.
  • the object is initially in contact with a surface and levitates later during the method.
  • the object initially levitates and, later during the method, is in contact with a surface.
  • the time-variable PAD can, in instances, also be considered a fluctuating PAD.
  • the time-variable PAD can, in instances, be considered to be composed of or to be constituted by the respective CPADs.
  • the device can be a device for handling (or positioning and/or manipulation of) objects, in particular a device for contactless handling (or positioning and/or manipulation) of objects.
  • an acoustic pressure field can be produced, and different acoustic pressure fields can be produced by the transducers by applying different control signals to the transducers.
  • a corresponding PAD With an acoustic pressure field, a corresponding PAD is associated.
  • instantaneous pressures of the so-produced acoustic pressure field can vary (in most locations within the acoustic pressure field) with 40 kHz, whereas the PAD is constant in time.
  • the control signals are usually electrical signals, such as control voltages.
  • the ECP AD is produced by an earlier set of the transducers, and the SCPAD is produced by a subsequent set of the transducers.
  • Said sets can be identical; they can alternatively be not identical. In the latter case, the sets can but need not be overlapping.
  • the transducers are piezoelectric transducers.
  • a frequency of the control signal applied to the respective transducer coincides with a resonance frequency of this respective transducer. This makes possible energy-efficient operation.
  • the transducers are nominally identical, i.e. have nominally identical properties. In some embodiments, positions of the transducers are fixed relative to one another. In orther words, the relative positions of the transducers of the plurality of transducers are constant, i.e. they do not vary during the method.
  • control signals and therefore also the acoustic waves produced
  • producing the time-variable pressure amplitude distribution comprises applying a time sequence of control signals to the transducers. This can mean, e.g., to apply time-multiplexed control signals to the transducers. Accordingly, time -multiplexing of control signals can be used in order to create the time-variable pressure amplitude distribution.
  • control signals applied to the transducers can be repeatedly switched.
  • time-multiplex control signals applied to the transducers can thus be provided to time-multiplex control signals applied to the transducers, and to do so particularly fast, such as faster than it would be required for the object to reach steady-state position in the ECP AD and/or so fast that the object cannot follow the changes in PAD.
  • the PADs (and in particular the CPADs) can be associated with respective control signals, and changes in control signals can be associated with changes in PADs, and the time sequence of CPADs can be associated with a time sequence of control signals. Accordingly, as far as logically possible, the features explained regarding the PADs (and in particular the CPADs) can apply, analogously, to respective control signals, and, vice versa, the features explained regarding the control signals can apply, analogously, to respective PADs (and in particular CPADs).
  • steady-state position is a position at which the object can continually stay, provided the corresponding pressure amplitude distribution is applied permanently.
  • a steady-state position of a PAD for an object
  • a steady-state position of a PAD is a position of the object in which the object is exposed to the PAD and in which the object remains, when the respective pressure amplitude distribution is permanently present.
  • the objects we are describing herein can be but need not be present “within” a respective PAD, as the object may be, e.g., in touch with a surface, in particular with a surface of a solid body.
  • a steady-state position is not a feature of merely the PAD, because whether or not a position is a steady-state position generally also depends on properties of the object.
  • the object Being in a steady-state position, the object is in a positional rest, and it can also be, but does not have to be, in a rotational rest.
  • a steady-state position of a PAD for an object is thus typically present only in close proximity to a local pressure minimum of the PAD.
  • the steady-state position can be referred to as a stable position.
  • the steady-state position can be considered a levitation position.
  • position refers to a location. It does not comprise or imply a specific orientation (rotational position) of an object present in that position.
  • positions and locations referred to in this application can be positions and locations relative to a transducer holder of the device.
  • the device can comprise a transducer holder, wherein each one of the transducers is held in the transducer holder.
  • the mutual position and orientation of the transducers can be fixed by the transducer holder; thus they can remain unchanged because of the transducer holder.
  • the relative positions of the transducers can remain unchanged (do not vary) during the method.
  • position (or “location”) with respect to an object
  • location the position (or location) of an object shall designate the position (or location) of the center of gravity of the object.
  • a change from the SCPAD to a final constituent pressure amplitude distribution is accomplished before the object reaches a steadystate position of the subsequent constituent pressure amplitude distribution.
  • a steady-state position (of the respective CPAD) for the object is reached neither during presence of the ECP AD nor during the presence of the SCPAD.
  • This can be useful, e.g, in case that effectively two or more CPADs are «mixed», or the time-variable PAD effectively is a kind of superposition or overlay of its CPADs, e.g., designed according to needs.
  • the object is (during presence of the time-variable pressure amplitude distribution) in a position which is a steady-state position for the object neither in the ECP AD nor in the SCPAD. Provided the object remains substantially in one and the same position during the time-variable PAD, that position can be considered a steady-state position for the object in the time-variable PAD.
  • the changes in the pressure amplitude distribution can simply be too fast for the object to follow, or, at least, to fully follow the changes, such that the object does reach a steady-state position in any of the subsequent constituent pressure amplitude distributions.
  • the final constituent pressure amplitude distribution can in particular be the constituent pressure amplitude distribution which directly follows the subsequent constituent pressure amplitude distribution.
  • the object during presence of the time-variable pressure amplitude distribution, the object’s center of gravity remains within a portion of space defined by a local pressure trough of the SCPAD.
  • a steady-state position of the SCPAD for the object can exist within the local pressure trough.
  • the object can be close to or in a steady-state position of the SCPAD for the object.
  • the ECPAD can comprise, e.g., constitute, a focal point-type PAD, and during the time sequence, the object is repeatedly pushed upwards by the focal point-type PAD.
  • the object can be generally located close to a steady-state position of a trap-type pressure distribution of the object, e.g., the SCPAD comprising, e.g., constituting, a vertical trap.
  • the object remains substantially in place during the timevariable PAD, wherein remaining substantially in place can in particular mean that the object’s position changes by less 10%, more particularly by less than 5% of its largest extension.
  • a change from the SCPAD to the final constituent pressure amplitude distribution is accomplished after the object has reached a steady-state position in the SCPAD.
  • producing the time sequence comprises repeatedly, in particular periodically changing, before the object reaches a steady-state position of a respective CP AD, from said respective CP AD to a different PAD.
  • the changing can be repeated at least three times, more particularly at least ten times.
  • Said different CP AD can immediately follow said respective CPAD.
  • the time sequences can be implemented in various ways. E.g., two or more CPADs can be alternated, such as ABABAB... or ABCABCABC... (A, B, C designating different CPADs, such as A designates the ECP AD, B the SCPAD and C the FCPAD). Also other repetitive time sequences are possible such as ABCBABCBABCBA...
  • time sequences with a quasi-continuous variation of one or more of the CPADs are possible, too, such as AB AB ’AB” AB’”... or ABA’B’A”B”A’”B’”...; wherein an added apostrophe desigantes a slightly varied version of the CP AD having one apostrophe less. This can enable a rather smooth evolvement in time of the timevariable PAD.
  • the object never reaches a steady-state position of any of the CPADs during presence of the respective CPAD. In other words, during presence of the time-variable PAD, the object does not reach a steady-state position of any of the CPADs. As has been pointed out above already, this can be useful, e.g., when effectively «mixing» two or more CPADs.
  • the ECP AD and the SCPAD are dissimilar PADs.
  • the ECP AD can comprise, e.g., constitute, a horizontal twin trap
  • the SCPAD can comprise, e.g., constitute, a vertical twin trap; or vice versa.
  • a horizontal twin trap-type PAD can produce forces acting on the object which are predominantly vertically oriented; whereas a vertical twin trap-type PAD can produce forces acting on the object which are predominantly horizontally oriented. Those forces can well complement one another.
  • the SCPAD can be underivable from the ECPAD by an application to the ECPAD of any sequence of one or more linear transformation operations.
  • Linear transformation operations are known from mathematics.
  • said linear transformation operations can be operations selected from the group consisting of translation, rotation, reflection, scaling.
  • the scaling can be isotropic scaling.
  • the scaling can be selected from the group consisting of isotropic scaling and anisotropic scaling.
  • the SCPAD can have a symmetry which is different from a symmetry of the ECP AD.
  • the ECP AD can have a rotational symmetry about a vertical axis (e.g., it can comprise, e.g., constitute, a horizontal twin trap; or it can comprise, e.g., constitute, a focal point-type PAD), and the SCPAD can have a mirror symmetry regarding a vertical plane (e.g., it can comprise, e.g., constitute, a vertical twin trap); or vice versa.
  • none of the zero or more locations corresponding to a steadystate position of the ECP AD of the object coincides with any of the zero or more locations corresponding to a steady-state position of the SCPAD of the object. In some embodiments, this applies e.g., for any two CPADs which directly follow one another during the time sequence.
  • producing the time-variable PAD comprises applying a time sequence of control signals to the transducers.
  • the method comprises monitoring a position and/or orientation of the object and controlling the time-variable PAD in dependence of a result of the monitoring.
  • one or more of the constituent pressure amplitude distributions and/or a duration of one or more of the constituent pressure amplitude distributions can be selected.
  • An increased control of the position and/or orientation of the object can be enabled this way. This can be very useful for handling objects of unknown properties, e.g., unknown weight and/or precision handling and/or in cases where there is no steady-state position for the object in one or more of the CPADs, e.g., in any of the CPADs.
  • the object may be too heavy to be held by the vertical twin-trap, and the duration of the presence of the focal-point-type PAD can be selected such that a desired position of the object, such as a desired height is not fallen short of, e.g., is maintained.
  • the position (location in space) of the focal point-type PAD can be chosen such as to ensure that a desired height of the object is not fallen short of, e.g., is maintained. This can mainly concern the height (z-position) of the focal point- type PAD.
  • the position (location in space) of the vertical twin trap-type PAD can be chosen such as to ensure that a desired x-y-position of the object is maintained.
  • This can mainly concern the x-y-position of the vertical twin trap-type PAD. Undesired lateral (sideward) movement of the object can be minimized this way.
  • the method can be used for moving, more particularly for translating, the object.
  • the method comprises translating the object by producing the time-variable PAD.
  • the object changes its position (location) due to application of the time-variable PAD.
  • the term «translating» means to create a translation, i.e. the object, more particularly its center of gravity, is moved from one position (location) to another.
  • the object’s location is changed relative to at least one of the transducers. More specifically, the object’s location can be changed relative to the plurality of electroacoustic transducers. E.g., the object’s location can be changed relative to the device.
  • a well-controlled change of position of the object can be enabled and/or a movement of the object can be realized which run along complicated paths.
  • a method for translating an object by means of a device comprising a plurality of electroacoustic transducers which comprises producing a time-variable PAD by producing by means of the device a time sequence of two or more CPADs.
  • a change from an ECPAD to an SCPAD is accomplished before the object reaches a steady-state position of the ECPAD.
  • the feature saying that a change from the ECPAD to the SCPAD is accomplished before the object reaches a steady-state position of the ECPAD is generally optional, at least on the second aspect of the invention.
  • the method can be a method for translating an object by means of a device comprising a plurality of electroacoustic transducers, the method comprising producing a time-variable PAD by producing by means of the device a time sequence of two or more CPADs, wherein an ECPAD and a SCPAD are dissimilar PADs.
  • a device according to the invention is more closely related to the second than to the first aspect of the invention, as it relates to generation of dissimilar CPADs.
  • the device can be a device for handling, in particular for translating, an object.
  • the device comprises a plurality of electroacoustic transducers and a control unit for applying to each of the transducers a control signal to produce a PAD.
  • the control unit is operable, in particular configured, to apply a time sequence of control signals to the transducers so as to produce a time sequence of two or more CPADs, wherein an ECP AD and a SCPAD are dissimilar PADs.
  • control unit can be operable or, in particular, configured to apply a time sequence of control signals to the transducers, wherein the time sequence of control signals comprises earlier control signals and, subsequently thereto, subsequent control signals, wherein application of the earlier control signals to the transducers produces the ECPAD, and application of the subsequent control signals to the transducers produces the SCPAD.
  • the ECPAD is a horizontal twin trap and the SCPAD is a vertical twin trap. This can be useful for picking up an object from a surface.
  • the ECPAD is a vertical twin trap and the SCPAD is a focal-point-type PAD. This can be useful, e.g., for stabilizing relatively heavy objects.
  • FIG. 1 A a conceptual illustration of a device producing an earlier pressure amplitude distribution
  • Fig. IB a conceptual illustration of the device of Fig. 1A producing a subsequent pressure amplitude distribution
  • Fig. 2 a strongly schematized illustration symbolizing a one-dimensional movement of an object in a time-variable pressure amplitude distribution
  • FIG. 3 A illustration of a pressure amplitude distribution constituting a vertical twin trap
  • FIG. 3B illustration of a pressure amplitude distribution constituting a focal-pointtype pressure amplitude distribution
  • FIG. 3C illustration of a time-variable pressure amplitude distribution composed of the pressure amplitude distributions of Figs. 3A and 3B;
  • FIG. 4 A illustration of a pressure amplitude distribution constituting a horizontal twin trap
  • FIG. 4B illustration of a time-variable pressure amplitude distribution composed of the pressure amplitude distributions of Figs. 4A and 4C;
  • FIG. 4C illustration of a pressure amplitude distribution constituting a vertical twin trap
  • Fig. 5 a diagram illustrating a picking-up process using the pressure amplitude distributions of Figs. 4A to 4C;
  • Fig. 6 a strongly schematized illustration of a one-dimensional view of a pressure amplitude distribution having a local pressure trough.
  • the described embodiments are meant as examples or for clarifying the invention and shall not limit the invention.
  • Figs. 1 A and IB show conceptual illustrations of a device 1 for producing pressure amplitude distributions, in particular a device 1 for handling, e.g., for translating, an object 5.
  • device 1 produces a pressure amplitude distribution (PAD) referred to as earlier constituent pressure amplitude distribution (ECP AD), and in Fig. IB, it produces a pressure amplitude distribution (PAD) referred to as subsequent constituent pressure amplitude distribution (SCPAD).
  • PID pressure amplitude distribution
  • ECP AD earlier constituent pressure amplitude distribution
  • SCPAD subsequent constituent pressure amplitude distribution
  • the device 1 comprises a plurality of electroacoustic transducers 11, 12, 13, 14, such as piezoelectric transducers, which may be held in a common transducer holder 19. Usually, there are more transducers, and the transducers are arranged in a specific way with respect to each other.
  • the transducers are connected to a control unit 15 providing a control signal, such as a control voltage, to each of the transducers.
  • the transducers produce acoustic waves, e.g., in the ultrasonic range, and an acoustic pressure field having a pressure amplitude distribution (PAD) is produced this way.
  • An object 5 present in the PAD can be manipulated, e.g., translated and/or rotated, by changing the PAD from an ECP AD 2e to SCPAD 2s, e.g., by changing the control signals from earlier control signals Sle, S2e, S3e, S4e to subsequent control signals Sis, S2s, S3s, S4s, respectively.
  • Control unit 15 can, accordingly, be configured for applying a time sequence of control signals to the transducers.
  • the time-variable PAD may consist of only two constituent pressure amplitude distributions (CPADs), but it may as well comprise a larger and much larger number of CPADs, e.g., when quickly switching back and forth between two (or three or more) CPADs, or when comprising a sequence of three (or four or more) mutually distinct PADs, wherein the switching from one CPAD to the next can in this case be, e.g., much slower than said quickly switching, because the object may have to be able to follow the varying PADs to a large extent instead of possibly remaining largely in place.
  • CPADs pressure amplitude distributions
  • the ECP AD is replaced by the SCPAD before the object reaches a steady-state position of the ECP AD. This will be explained referring to Fig. 2.
  • the ECP AD and the SCPAD are dissimilar PADs. Examples for this will be given below.
  • Fig. 2 shows a strongly schematized illustration symbolizing one-dimensional movement of an object in a time -variable pressure amplitude distribution.
  • the horizontal axis is a time axis; the vertical axis is a position (location) axis, e.g., along height variable z.
  • the object is symbolized by the circle.
  • the thick crosses symbolize steady-state positions of respective PADs.
  • a steady-state position for the object in the ECP AD is located at z e ; a steady-state position for the object in the SCPAD is located at z s .
  • the ECPAD is present. Initially, at tl, the object’s height is well above z e . As symbolized by the left open arrow, during presence of the ECPAD, the object moves down, closer to the steady-state position of the ECPAD for the object. Then, before the object reaches this steady-state position, the PAD is changed to the SCPAD, at t2.
  • the SCPAD is present.
  • the object moves during presence of the ECPAD from that position close to z e (at t2) to a position (at t3) which is farther away from the steady-state position of the ECPAD for the object and closer to the steady-state position of the SCPAD for the object, as symbolized by the right open arrow.
  • a PAD may be present which corresponds to the SCPAD, and after t3, a PAD may be present which corresponds to the ECP AD. E.g., these two PADs may be altematingly applied during the time-variable PAD.
  • Fig. 3A to 3C and 4A to 4C illustrate various PADs, more specifically two-dimensional cross-sections through PADs.
  • the horizontal axis corresponds to a lateral axis (x- or y-axis), and the vertical axis corresponds to a height axis (along coordinate z).
  • Fig. 3 A to 3C and 4A to 4C isobars (equipressure lines) are drawn to visualize the respective PADs.
  • solid lines encircle high pressure regions
  • dashed lines encircle low pressure regions.
  • the thick crosses in these figures again represent steadystate positions for the object of the respective PAD for the object.
  • the thin dotted crosses in Figs. 3A and 3C represent steady-state positions of the respective PAD for the object, for a different, second embodiment explained by means of Figs. 3 A to 3C.
  • Figs. 3A to 3C are interpreted as representing a first embodiment.
  • Fig. 3 A shows an illustration of a PAD constituting a vertical twin trap.
  • the PAD (vertical twin trap) of Fig. 3A is combined (“mixed”) with another PAD, namely the one of Fig. 3B, which constitutes a focal-point-type PAD.
  • a time -variable PAD is produced by quickly changing from the ECP AD (Fig. 3 A) to the SCPAD (Fig. 3B) and back and so forth.
  • a quick alternation between the two CPADs can effectively hold the object in a desired position, namely in the position as indicated in Fig. 3C (which possibly corresponds to the position indicated in Fig. 3A by the thin dotted cross).
  • the change between the two CPADs can and shall be very fast, such that in consideration of the object’s inertia, there is hardly any movement of the object.
  • the vertical twin trap (Fig. 3A) can ensure a quite good centering of the object with respect to lateral coordinates.
  • the focal-point-type PAD (Fig. 3B) can be considered to push the object from below by its intense high-pressure region, thus preventing the object from lowering too much.
  • Fig. 3C shows an illustration of the respective time -variable PAD composed of the constituent pressure amplitude distributions (CPADs) illustrated in Figs. 3A and 3B.
  • CPADs constituent pressure amplitude distributions
  • Figs. 3A to 3C are interpreted as representing a second embodiment. Then, the thick cross must be ignored, and the thin dotted crosses indicate positions of steadystate positions of the respective PADs.
  • CPADs of Figs. 3A and 3B are (again) “mixed” in a timevariable PAD - which again is illustrated in Fig. 3C.
  • this second embodiment can be used as an example where the ECPAD has a steady-state position for the object, and that position is not reached during the timevariable PAD.
  • the first embodiment can be used as an example where the ECPAD does not have a steady-state position for the object - thus a steady-state position cannot be reached anyway in the ECPAD.
  • Figs. 3A to 3C can also be considered as illustrating an example for the possibility to monitor (e.g., sense) a position of the object and to modify the time-dependent PAD accordingly: E.g., when it is sensed that the object is too high or too low, the SCPAD (Fig. 3B) can be modified, e.g., to have less or more intensity, respectively; and/or the SCPAD (Fig. 3B) can be modified, e.g., to have its high-pressure region at a lower or at a higher position, respectively; and/or
  • the time for which the SCPAD (Fig. 3B) is applied can be reduced or increased, respectively; and/or the time for which the ECP AD (Fig. 3B) is applied, can be increased or reduced, respectively.
  • Figs. 4A to 4C show in the same manner as Figs. 3A to 3C three different PADs. Based on these, e.g., an object can be picked up from a surface.
  • Fig. 4A shows an illustration of a PAD constituting a vertical horizontal twin trap (or a standing-wave-type PAD).
  • Fig. 4C shows an illustration of a PAD constituting a vertical twin trap.
  • Fig. 4B shows an illustration of a time-variable PAD composed of the PADs of Figs. 4A and 4C.
  • the ECP AD (Fig. 4A) is produced, resulting in a lifting of the object.
  • the object e.g., not yet having reached its steady-state position in the ECP AD (indicated by the thick cross in Fig. 4A)
  • the SCPAD (Fig. 4C) is produced, and the PAD switches back to the ECPAD and so on.
  • the PAD (horizontal twin trap) of Fig. 4A is combined (“mixed”) with another PAD, namely the one of Fig. 4C, which constitutes a vertical twin trap as SCPAD.
  • a time-variable PAD is produced.
  • the addition of the vertical twin trap as SCPAD lifts the object further.
  • the object can for example reach the position indicated as steady-state position (thick cross) of the time-variable PAD for the object indicated in Fig. 4B.
  • the time- variable PAD can be replaced by the SCPAD (Fig. 4C), lifting the object even further.
  • the object can then finally reach its steady-state position of the SCPAD, cf. Fig. 4C.
  • ECPAD and SCPAD for durations of equal lengths during the time-variable PAD, e.g., ECPAD and SCPAD each being produced for 1 ms.
  • ECPAD and SCPAD each being produced for 1 ms.
  • the time sequence may look like: 10 ms ECPAD, then 1 ms SCPAD, then 9 ms ECPAD, then 2 ms SCPAD, then 8 ms ECPAD, then 3 ms SCPAD, then 7 ms ECPAD, then 4 ms SCPAD, then 6 ms ECPAD, then 5 ms SCPAD, and so on until 2 ms ECPAD, then 9 ms SCPAD, then 1 ms ECPAD. Then the time-variable PAD is ended, and the SCPAD is produced (for some time).
  • Fig. 4B illustrates the (time-averaged) time-variable PAD at approximately equal durations. The figure would look different, also showing a higher or lower thick cross (steady-state position), when the duration of the SCPAD would be longer or shorter, respectively, than the duration of the ECPAD.
  • This third embodiment is an example for the first aspect of the invention, independent of whether or not the object reaches its steady-state position in the ECPAD (cf. the thick cross in Fig. 4A), because there are times during the time-variable PAD (e.g., during the fading-in and during the fading-out; or in the embodiment with equal durations) where the object does not reach its steady-state position in the ECPAD and the ECPAD is followed by the SCPAD.
  • the time-variable PAD e.g., during the fading-in and during the fading-out; or in the embodiment with equal durations
  • this third embodiment is an example also for the second aspect of the invention, because the two twin traps of Figs. 4A, 4C are dissimilar.
  • a fourth embodiment can be explained based on Figs. 4A and 4C (ignoring Fig. 4B).
  • the picking -up sequence starts again with the ECP AD (Fig. 4 A), then it is switched to the SCPAD (Fig. 4C), before the object has reached its steady-state position in the ECP AD, cf. the thick cross in Fig. 4A.
  • the object may be movable to the object’s steady-state position in the SCPAD (cf. the thick cross in Fig. 4C). And also this is an example for both, the first and the second aspects of the invention.
  • a time-variable PAD with at least three, in practice with at least 10 or at least 20 steps in the sequence, are preferable in many instances, e.g., for smoother and/or safer object movements.
  • Fig. 5 is a diagram illustrating the picking-up process using the PADs of Figs. 4A to 4C.
  • the horizontal axis represents the height coordinate (z); and the vertical axis shows the vertical forces which can be exerted by the respective PAD.
  • the solid line refers to the PAD of Fig. 4A
  • the dashed line refers to the time-variable PAD (Fig. 4B)
  • the dotted line refers to the PAD of Fig. 4C.
  • the thick crosses labeled PA, PB, PC, respectively, indicate the steady-state positions of the respective PADs of Figs. 4A, 4B, 4C, respectively.
  • Fig. 6 shows a strongly schematized illustration of a one-dimensional view of a PAD having a local pressure trough.
  • the horizontal axis represents a lateral coordinate, such as x; and the vertical axis shows the forces exertable by the PAD.
  • the object 5 is located within the local pressure trough of the PAD.
  • the width (along the lateral coordinate) is indicated by the open arrow, as the distance between the two dashed lines.
  • the PAD can in particular be a time-variable PAD.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Micromachines (AREA)

Abstract

L'invention concerne un procédé de manipulation d'un objet au moyen d'un dispositif comprenant une pluralité de transducteurs électroacoustiques et comprenant la production d'une distribution d'amplitude de pression variable dans le temps en produisant au moyen du dispositif une séquence temporelle de deux ou plusieurs distributions d'amplitude de pression constitutives (ECPAD ; SCPAD), un changement d'une distribution d'amplitude de pression constitutive antérieure (ECPAD) à une distribution d'amplitude de pression constitutive ultérieure (SCPAD) étant accompli avant que l'objet n'atteigne une position d'état stable dans la distribution d'amplitude de pression constitutive antérieure (ECPAD).
PCT/EP2021/075102 2020-09-15 2021-09-13 Procédé de manutention d'un objet dans une distribution d'amplitude de pression WO2022058281A1 (fr)

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Publication number Priority date Publication date Assignee Title
WO2023227692A1 (fr) 2022-05-25 2023-11-30 No-Touch Robotics Gmbh Procédé et dispositif de repositionnement sans contact et non invasif d'un objet, tel qu'une lentille, par rapport à un œil
DE102022113321A1 (de) 2022-05-25 2023-11-30 No-Touch Robotics Gmbh Verfahren und Vorrichtung zum berührungslosen, nicht-invasiven Verlagern eines Objekts, wie z.B. einer Linse, in Bezug auf einen Körperteil, wie z.B. ein Auge

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