Waste sorting gantry robot
A waste sorting manipulator can include a gripper assembly for interacting with one or more waste objects to be sorted within a working area. There is at least one servo for moving the gripper assembly between the manipulator and the working area. There is also at least one slidable coupling mounted between the at least one servo and the gripper assembly for allowing relative movement between the at least one servo and the gripper assembly.
1. A waste sorting manipulator comprising:
a gripper assembly configured to interact with one or more waste objects to be sorted within a working area;
at least one servo configured to move the gripper assembly with respect to the working area; and
at least one slidable coupling mounted between the at least one servo and the gripper assembly to allow relative movement between the at least one servo and the gripper assembly, the at least one slidable coupling comprising a two-way valve;
wherein the gripper assembly is a suction gripper assembly including a deformable suction cup that is configured to engage the one or more waste objects to be sorted; and
wherein the two-way valve is configured to allow air to escape from the at least one slidable coupling at a first rate and enter the at least one slidable coupling at a second rate that is less than the first rate.
2. A waste sorting manipulator according to claim 1 wherein the at least one servo is a servo configured to vary the height of the gripper assembly above the working area.
3. A waste sorting manipulator according to claim 1 wherein the at least one servo moves the gripper assembly in a direction normal to the plane of the working area.
4. A waste sorting manipulator according to claim 1 wherein the gripper assembly slides relative to the at least one servo in a direction normal to the plane of the working area.
5. A waste sorting manipulator according to claim 1 wherein the at least one slidable coupling compresses when the gripper assembly receives a force in a direction towards the at least one servo which is above a compression force threshold.
6. A waste sorting manipulator according to claim 5 wherein the at least one slidable coupling extends when the gripper assembly receives a force in a direction away from the at least one servo which is above an extension force threshold.
7. A waste sorting manipulator according to claim 6 , wherein the compression force threshold is less than the extension force threshold.
8. A waste sorting manipulator according to claim 6 wherein the rate of compression of the at least one slidable coupling is greater than the rate of extension of the at least one slidable coupling.
9. A waste sorting manipulator according to claim 1 wherein the at least one slidable coupling comprises a first part coupled to the gripper assembly and a second part coupled to the at least one servo.
10. A waste sorting manipulator according to claim 9 wherein the first part and the second part are configured to slide relative to each other over a distance of 10 cm to 50 cm.
11. A waste sorting manipulator according to claim 9 wherein the first part is a rod and the second part is a hollow sleeve configured to receive the rod.
12. A waste sorting manipulator according to claim 11 wherein there is a seal between the first part and the second part.
13. A waste sorting manipulator according to claim 12 , wherein the two-way valve is configured to allow air to escape from the hollow sleeve when the at least one slidable coupling is compressed.
14. A waste sorting manipulator according to claim 1 wherein an actuator is arranged to move the gripper assembly towards the working area and the actuator is coupled to the at least one slidable coupling.
15. A waste sorting manipulator according to claim 14 wherein the at least one slidable coupling comprises a portion of the actuator.
16. A waste sorting manipulator according to claim 14 wherein the actuator is coupled between the at least one slidable coupling and the at least one servo.
17. A waste sorting manipulator according to claim 14 wherein the actuator is a pneumatic actuator.
18. A waste sorting manipulator according to claim 14 wherein the actuator and the gripper assembly are substantially aligned along the same longitudinal axis.
19. A waste sorting manipulator according to claim 1 wherein the waste sorting manipulator comprises at least one sensor configured to determine that the gripper assembly has engaged an object.
20. A waste sorting manipulator according to claim 19 wherein the at least one sensor is configured to detect changes in acceleration, velocity or position of the gripper assembly.
21. A waste sorting robot comprising:
a frame; and
a waste sorting manipulator according to claim 1 wherein the waste sorting manipulator is moveably mounted on the frame and the waste sorting manipulator is moveable within the working area.
22. A waste sorting robot according to claim 21 wherein the waste sorting robot is a waste sorting gantry robot and the frame is a gantry frame.
23. A waste sorting manipulator comprising:
a gripper assembly configured to interact with one or more waste objects to be sorted within a working area;
at least one servo configured to move the gripper assembly with respect to the working area;
a rack and pinion assembly operatively coupled to the at least one servo; and
at least one slidable coupling mounted between the rack and pinion assembly and the gripper assembly to allow relative movement between the at least one servo and the gripper assembly;
wherein the at least one slidable coupling comprises a hollow sleeve coupled to the rack and pinion assembly and a rod coupled to the gripper assembly and configured to be received within the hollow sleeve.