A SWING ARM MANIPULATOR FOR DISPLACING OBJECTS ON AN OBJECT CARRIER SURFACE OF AN OBJECT CARRIER

Abstract

An improved swing arm manipulator is provided for displacing objects on an object carrier surface of an object carrier. The swing arm manipulator includes a swing arm rotatable around a rotation axis transverse to the object carrier surface. The swing arm includes a hollow elongate body and at least one extension part. The at least one extension part has an at least substantially cylindrical portion with which it is rotatably arranged in a hollow inner space of the hollow elongate body and has an at least substantially wedge shaped portion connected thereto, that extends towards the object carrier surface at an angle with respect to a surface normal of the object carrier surface. The improved swing arm manipulator is better arranged to manipulate objects of various sizes, while mitigating the risk that objects get stuck and/or are damaged.

Claims

1-11. (canceled)

12. A manipulator for displacing objects on an object carrier surface of an object carrier, the manipulator comprising a rotatable arm that is rotatable around a rotation axis transverse to the object carrier surface, wherein the rotatable arm comprises: a hollow elongate body having a length direction transverse to the rotation axis, and which hollow elongate body defines at a side facing the object carrier surface, an elongate opening that extends in the length direction of the rotatable arm, and that gives access to a hollow inner space confined by an at least substantially cylindrical wall portion with an axis extending in the length direction and with a diameter greater than a width of the elongate opening; at least one extension part with an at least substantially cylindrical portion, and an at least substantially wedge shaped portion connected to the an at least substantially cylindrical portion, wherein the an at least substantially cylindrical portion is rotatably arranged in the hollow inner space of the elongate body and wherein the substantially wedge shaped portion extends towards the object carrier surface at an angle with respect to a surface normal of the object carrier surface, wherein an inclination angle of a central plane of the wedge shaped portion with respect to the object carrier surface is in a range of about 20 degrees to about 40 degrees.

13. The manipulator according to claim 12, wherein the at least one extension part has an intermediate portion between the an at least substantially cylindrical portion and the an at least substantially wedge shaped portion, and that protrudes through the elongate opening.

14. The manipulator according to claim 13, wherein the intermediate portion is a beam shaped connection portion that has a thickness that is smaller than a thickness of the an at least substantially cylindrical portion and that is also smaller than the width of the elongate opening.

15. The manipulator according to claim 12, wherein the at least one extension part is one of a plurality of extension parts that are arranged subsequent to each other in the length direction.

16. The manipulator according to claim 12, wherein the at least one extension part is of a polymer.

17. The manipulator according to claim 13, wherein the at least one extension part is one of a plurality of extension parts that are arranged subsequent to each other in the length direction.

18. The manipulator according to claim 14, wherein the at least one extension part is one of a plurality of extension parts that are arranged subsequent to each other in the length direction.

19. The manipulator according to claim 13, wherein the at least one extension part is of a polymer.

20. The manipulator according to claim 14, wherein the at least one extension part is of a polymer.

21. The manipulator according to claim 15, wherein the at least one extension part is of a polymer.

22. A selection device comprising: a manipulator for displacing objects on an object carrier surface of an object carrier, wherein the manipulator comprises: a rotatable arm that is rotatable around a rotation axis transverse to the object carrier surface, wherein the rotatable arm comprises: a hollow elongate body having a length direction transverse to the rotation axis, and which hollow elongate body defines at a side facing the object carrier surface, an elongate opening that extends in the length direction of the rotatable arm, and that gives access to a hollow inner space confined by an at least substantially cylindrical wall portion with an axis extending in the length direction and with a diameter greater than a width of the elongate opening; at least one extension part with an at least substantially cylindrical portion, and an at least substantially wedge shaped portion connected to the an at least substantially cylindrical portion, wherein the an at least substantially cylindrical portion is rotatably arranged in the hollow inner space of the elongate body and wherein the substantially wedge shaped portion extends towards the object carrier surface at an angle with respect to a surface normal of the object carrier surface, wherein an inclination angle of a central plane of the wedge shaped portion with respect to the object carrier surface is in a range of about 20 degrees to about 40 degrees; wherein the selection device further comprises: an actuator configured to controllably rotate the rotatable arm; an actuator controller configured to control the actuator in response to an object information signal indicative for: an identity of an object in a neighborhood of the rotatable arm; one or more properties of an object in a neighborhood of the rotatable arm; or a combination thereof.

23. The selection device according to claim 22, further comprising an object recognition unit configured to provide the object information signal.

24. The selection device according to claim 22, further comprising an input for receiving the object information signal.

25. A sorting device comprising at least one selection device according to claim 22; and a conveyor belt forming an object carrier with an object carrier surface, which conveyor belt in operation moves in a transport direction; the actuator controller being configured to rotate the rotatable arm between a first orientation and a second orientation in response to the object information signal, wherein in the first orientation the rotatable arm allows an object to be transported further with the conveyor belt and wherein in the second orientation the rotatable arm blocks the object, wherein the an at least substantially wedge shaped portion of the at least one extension part of the rotatable arm extends towards the object carrier surface in a direction opposite the transport direction.

26. The sorting device according to claim 25, wherein the at least one selection device is one of a plurality of selection devices that each have a respective rotatable arm at mutually distant positions along the transport direction of the conveyor belt and that are configured to remove an object from the conveyor belt to a respective destination.

27. The sorting device according to claim 26, wherein the plurality of selection devices comprise a common actuator controller.

28. The sorting device according to claim 25, wherein the at least one extension part has an intermediate portion between the an at least substantially cylindrical portion and the an at least substantially wedge shaped portion, and that protrudes through the elongate opening.

29. The sorting device according to claim 25, wherein the intermediate portion is a beam shaped connection portion that has a thickness that is smaller than the thickness of the cylindrical portion and that is also smaller than the width of the elongate opening.

30. The sorting device according to claim 25, wherein the at least one extension part is one of a plurality of extension parts that are arranged subsequent to each other in the length direction.

31. The sorting device according to claim 25, wherein the at least one extension part is of a polymer.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Embodiments of the swing arm manipulator for displacing objects on an object carrier surface of an object carrier are described in more detail in the following figures. Therein:

[0020] FIGS. 1 and 2 are pictures, showing an application using a prior art swing arm manipulator;

[0021] FIG. 3-5 shows an embodiment of an improved sorting device as disclosed herein, in mutually different phases of operation; Therein FIG. 3 shows the sorting device in a first phase;

[0022] FIG. 4 shows the sorting device in a subsequent phase; and

[0023] FIG. 5 shows the sorting device in a further subsequent phase;

[0024] FIGS. 6 and 7 respectively show a perspective top view and a perspective bottom view of an embodiment of a swing arm used in the sorting device;

[0025] FIGS. 8 and 9 respectively show an exploded view of the exemplary swing arm in a 45-degree top view and an exploded view of the exemplary swing arm in a 45-degree bottom view;

[0026] FIGS. 10 and 11 respectively show an orthogonal view of a first longitudinal end of the swing arm and an orthogonal view of a second longitudinal end opposite the first longitudinal end of the swing arm;

[0027] FIG. 12 is a picture, showing an application using the improved swing arm manipulator.

DETAILED DESCRIPTION

[0028] FIG. 3-5 show an embodiment of the improved sorting device in a first, a second and a third mutually subsequent phases of operation. In operation the sorting device displaces objects O1, O2, . . . on an object carrier surface 21 of an object carrier 20 moving in a direction T. As shown therein, the sorting device 1 has a plurality of selection devices 5a, 5b, 5n, that each comprise a swing arm manipulator 10. FIG. 3 shows the sorting device 1 in the first phase just before commencing a first stage of the operation cycle. In the situation shown in FIG. 3 the object carrier 20 carries an object O1 at its object carrier surface 21. Alongside the conveyor belt are depicted 4 out of a potentially large number of embodiments of swing arm manipulators 10a, 10b, 10n. As described in more detail with reference to FIG. 6-11, each swing arm employs a number of extension parts that are rotatably coupled with the swing arm to allow them to rotate freely along the longitudinal direction of the swing arm. Therewith the risk that small objects get stuck underneath the swing arm is substantially mitigated. The n swing arm manipulators 10a, 10b, 10n have a respective actuator 5a, Sb, 5n to controllably rotate the swing arm connected thereto. To that end an actuator controller 52 is provided that controls the operation of the actuators in response to an object information signal. The actuator controller 52 on its turn is controlled by an external controller (not depicted).

[0029] The object information signal is indicative for an identity and/or one or more properties of an object in a neighborhood of the swing arm of the swing arm manipulator 10.

[0030] The actuator controller is configured to rotate the swing arm between a first orientation and a second orientation in response to the object information signal. In the first orientation the swing arm allows an object e.g. O1 to be transported further with the conveyor belt and in the second orientation the swing arm blocks the object. Subsequently when rotating back to the first orientation it removes the object from the conveyor belt into a respective bin B1, B2, Bn. In the situation shown in FIG. 3, the swing arms are each maintained in the first orientation. Hence, in this phase of operation the object O1 is transported further in the direction T.

[0031] FIG. 4 shows the embodiment of the sorting device of FIG. 3 in a second, subsequent phase of operation. The actuator controller 52 has sent an object information signal to the actuator 5n, so that it rotates the swing arm 11n of the swing arm manipulator 10n clockwise along the rotation axis 22 in the second orientation. Therein the swing arm is oriented under an angle (B2) with respect to the direction T of the conveyor belt. As the swing arm 11n rotates out onto the conveyor belt, the extension parts 112 underneath the swing arm are forced upward by the conveyor belt and lay flush to its surface 23 so as to prevent any thin object from getting stuck underneath the swing arm. The friction between the conveyor belt and the object that initially carries the object in the direction T, now causes the object to be pushed against the swing arm and its extensions. The reactive force normal to the swing arm then causes the object to be carried along the longitudinal direction of the swing arm towards the associated bin Bn.

[0032] FIG. 5 shows the sorting device of FIG. 3 and FIG. 4 in a third phase of operation succeeding the second phase. In a time interval between the second phase (FIG. 4) and the third phase (FIG. 5), the actuator controller 52 has sent a second object information signal (Soi) to the actuator 5n, and the actuator 5n is controlled so as to rotate counterclockwise along the rotation axis 22 so that the swing arm rotates back. During the movement of the swing arm directs the object O1 into the bin Bn, again using the extensions to prevent objects getting stuck underneath the swing arm. Upon completion of the counterclockwise rotation as shown in FIG. 5, the swing arm has assumed its initial position at the beginning of the operational cycle and forms an angle (B1) with respect to the axis perpendicular to the direction T of the conveyor belt.

[0033] FIG. 6-11 shows various views of an exemplary embodiment of a swing arm 11 for use in the sorting device of FIG. 3-5. FIG. 6 shows the exemplary swing arm 11 in a 45-degree top view displaying its constituent parts. The large opening to the left allows for attachment to the shaft of the actuator 22. As shown in FIG. 6, the swing arm 11 has a hollow elongated body 111 with a cylindrical opening 111o into which a plurality of extension parts 112_1, 112_2, 112_n are slided with their cylindrical portion. The extension parts 112_1, 112_2, 112_n are free to move rotationally around an axis in the length direction DL in the cylindrical opening, and are held in place by the pins 111p1 and 111p2. The extension parts are arranged just tightly enough against each other so as to avoid substantial gaps between the adjacent extension parts, but loose enough so that gravitational forces can cause the parts to freely rotate in an orientation wherein the free end of the wedge shaped extension part rest on the conveyor belt.

[0034] In a practical embodiment the extension parts may have a width, defined in the direction DL not exceeding about 10 cm, e.g. about 5 cm. For example, a swing arm having a length of 50 cm may have 10 extension parts. Should the width be substantially larger than 10 cm then it becomes more difficult to adapt to bulges occurring in the object carrier, such as in a conveyor belt. Therewith the risk increases that small objects, or objects having small extending parts get trapped, unless the conveyor belt is frequently replaced, which would however involve high maintenance costs. The extension parts 112 are not tightly arranged with respect to each other in the hollow inner space 111h. This allows the extension parts to rotate freely relative to each other with respect to the axis defined by the cylindrical wall 114 of the hollow inner space 111h. Although a friction between mutually adjacent extension parts can be avoided with a minimum axial tolerance, the accumulated axial tolerance may be relatively high if a substantial number of extension parts is used. Therewith a relatively large axial gap between two mutually subsequent extension parts may arise if the other extension parts shift towards each other. This involves the risk that objects to be handled are trapped between such two subsequent extension parts. One option to avoid this to occur is to provide blocking elements in the hollow inner space 111h that restrict axial movements of the extension parts. This however complicates the assembly of the swing arm. For most practical applications it has been found that separate blocking elements for this purpose can be avoided if the extension parts have a width of at least 1 cm.

[0035] As shown in the accompanying figures, the substantially wedge shaped portion 112w extends towards the object carrier surface at an angle with respect to a surface normal of the object carrier surface. The wedge shaped portion 112w of the extension parts extends towards the object carrier surface in a direction opposite the transport direction. Accordingly, in the transport direction T the wedge shaped portion 112w inclines upward. In practical applications the inclination angle of a central plane of the wedge shaped portion is in a range of about 20 degrees to about 40 degrees.

[0036] In an embodiment, the hollow elongate body 111 is made from a light weight metal, such as aluminum. The hollow elongate body is for example manufactured using an extrusion process or a 3D-printing process. By way of example the extension parts are of a polymer, such as PA12 or Nylon. Likewise, the extension parts can be readily manufactured with a 3D printing process. The improved swing arm can be used as a replacement for a conventional swing arm, and does not require an adaptation of actuators or controllers to be used.

[0037] FIG. 7 shows the exemplary swing arm 11 in a 45-degree bottom view displaying the elongate opening 111o at a side 113 and extending in a length DL direction of the swing arm. The elongate opening 111o gives access to a hollow inner space 111h with a cylindrical wall 114 in which the extension parts 112_1, 112_2, 112_n are accommodated with their cylindrical portions. The extension parts 112_1, 112_2, 112_n are held in place at the end of the swing arm by a pin 111p2.

[0038] FIG. 8 and FIG. 9 respectively show an exploded view of the exemplary swing arm in a 45-degree top view and an exploded view of the exemplary swing arm in a 45-degree bottom view. These figures display in more detail the extension parts 112_1, 112_2, 112_n and the pins 111p1 and 111p2 that hold them in place. It is noted that alternative means may be used for this purpose, e.g. caps that are mounted at the ends of the swing arm. In some embodiments the hollow inner space 111h of the elongate body may not fully extend towards one end, so that a separate longitudinal holding element as a cap or a pin is not needed. In again other embodiments the elongate body may have a lower part facing the object carrier and an upper part facing away from the object carrier. In a manufacturing process the extension parts may be placed in the lower part of the elongate body and subsequently the upper part may be assembled with the lower part, for example using an adhesive or using screws.

[0039] FIG. 10 shows a side view of the swing arm 11 at a longitudinal end thereof remote from the end where it is to be fixed to the actuator. FIG. 10 shows in more detail that the hollow inner space 111h is confined by an at least substantially cylindrical wall portion 114 that has a diameter Dh exceeding the width Wo of the elongate opening 111o in. FIG. 10 further shows one of the extension parts having its cylindrical portion 112c rotatably arranged within the hollow inner space 111h, and having its wedge-shaped extension 112w extending outwards. In a vertical direction in FIG. 10, the cylindrical portion 112c of the extension part is confined hollow inner space 111h due to the fact that the diameter of the cylindrical portion 112c which is only slightly smaller than the diameter Dh of the cylindrical wall portion 114 exceeds the width Wo. In the longitudinal direction the cylindrical portion 112c of the extension part is confined by the pin 111p2.

[0040] FIG. 11 shows the swing arm 11 at a longitudinal end thereof where it is to be fixed to the actuator. As shown therein, the extension part has a beam shaped connection portion 112i between its cylindrical portion 112c and its wedge-shaped extension 112w. The beam shaped connection portion 112i has a thickness Di smaller than the thickness Dc of its cylindrical portion 112c. The thickness Di is also smaller than the width Wo of the opening, so that the extension part can freely rotate with its cylindrical portion 112c in the hollow inner space within an allowed rotation range. The extension part shown at this longitudinal end is being held in place by the pin 111p1.

[0041] By way of example a plurality of selection devices as presented above are installed along a conveyor belt so that it form a sorting device. A control device such as disclosed in International Patent Application No. PCT/NL2020/0504673D product identification with neural network may serve as a master controller. In such an arrangement, the identifying device of the control device is configured to identify the object on the conveyor belt and to send a control signal to the sorting device instructing it to push the object off the conveyor belt at the appropriate time/location so that it ends up in the proper bin and thus gets sorted.

[0042] FIG. 12 is a picture showing an application using the improved swing arm manipulator. In the situation shown, the swing arm of the swing arm manipulator 10 is currently actuated to push an object O5 from the object carrier surface 23 into a collection bin. In this case the extension parts 112_1, 112_2, 112_n that are rotatably coupled to the swing arm 11 rest on the surface 23 of the conveyor belt therewith avoiding gaps, so that the risk that thin objects, like O5 or objects having thin extensions get trapped between the swing arm 11 and the surface 23 of the conveyor belt is minimized. It is noted that gravitation is sufficient to achieve that the wedge shaped portions of the extension part follow the object carrier surface. In some cases it may alternatively or additionally be considered to use resilient means for this purpose.