# US 9,434,554 B2 · Apparatus and method for separating objects > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,434,554 B2 - Document ID: US9434554B2 - Status: Granted - Kind: B2 - Application number: 14/402,321 - Filed: 2013-05-22 - Published: 2015-04-02 - Granted: 2016-09-06 - Earliest claimed: 2012-05-22 - Assignees: IG Specials B.V. - Applicants: IG Specials B.V. - Inventors: Wim Struijk; Wim Van Der El - Web page: https://patentgrep.com/patent/US9434554B2 ## CPC - B65G 47/28: during transit by a single conveyor - A01G 2/00: Vegetative propagation (plant reproduction by tissue culture techniques A01H4/00) - A01G 9/08: Devices for filling-up flower-pots {or pots for seedlings}; Devices for setting plants {or seeds} in pots - B07C 5/342: according to optical properties, e.g. colour {(according to radiation transmittivity B07C5/3416)} - B65G 47/26: arranging the articles, e.g. varying spacing between individual articles - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - A01G: HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING (picking of fruits, vegetables, hops or the like A01D46/00; propagating unicellular algae C12N1/12) - B07C: POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING (specially adapted for a specific purpose covered by another class, see the relevant place, e.g. A43D33/06, B23Q7/12) ## Abstract The present invention relates to an apparatus for separating objects. The apparatus comprises a conveyor arrangement (1) and an actuator (30). The conveyor arrangement comprises a conveyor belt (10) disposed as an endless loop over two rollers (21, 22). The conveyor belt has a substantially horizontally arranged surface (5) for receiving a plurality of objects. The actuator comprises a drive axis (31), an actuating structure (32) and a connection structure connecting the drive axis with the actuating structure. The drive axis is connectible to a motor to enable rotational movement of the drive axis. The connection unit is arranged for converting the rotational movement into movement of the actuating structure in a direction substantially perpendicular to the object receiving surface plane. The actuating structure is located underneath the conveyor belt for creating movement of the surface in this direction. The conveyor arrangement and the actuator are independently controllable. ## Claims ### Claim 1 An apparatus for separating objects comprising: a conveyor arrangement comprising a conveyor belt disposed as an endless loop over two rollers, the conveyor belt having a substantially horizontally arranged surface for receiving a plurality of objects; and an actuator comprising a drive axis connectible to a motor so as to enable rotational movement of the drive axis, an actuating structure, and a connection structure connecting the drive axis with the actuating structure for converting rotational motion of the drive axis into a movement of the actuating structure in a direction substantially perpendicular to the object receiving surface plane, wherein the actuating structure is located underneath the conveyor belt for creating movement of the surface in a direction substantially perpendicular to the object receiving surface plane; wherein the conveyor arrangement and the actuator are independently controllable. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the actuating structure is arranged to create irregular movement of the object receiving surface. ### Claim 3 (depends on 1) The apparatus according to claim 1, wherein the conveyor belt is controllably moveable in two mutually opposing directions by actuation of at least one of the two rollers. ### Claim 4 (depends on 1) The apparatus according to claim 1, further comprising a belt tensioning roller mounted on an arm that is pivotably connected to the actuating structure. ### Claim 5 (depends on 3) The apparatus according to claim 3, wherein the actuating structure further comprises a guiding roller connected at a position at a side of the actuating structure facing away from the belt tensioning roller. ### Claim 6 (depends on 1) The apparatus according to claim 1, wherein the conveyor arrangement further comprises a plate between the two rollers for supporting the object receiving surface of the conveyor belt. ### Claim 7 (depends on 6) The apparatus according to claim 6, wherein the plate is provided with a plurality of holes. ### Claim 8 (depends on 7) The apparatus according to claim 7, wherein the holes take the form of slits oriented in a direction substantially parallel to the direction of movement of the conveyor belt. ### Claim 9 (depends on 8) The apparatus according to claim 8, wherein the slits are provided with rounded ends. ### Claim 10 (depends on 1) The apparatus according to claim 1, wherein the actuating structure extends over the entire width of the conveyor belt. ### Claim 11 (depends on 10) The apparatus according to claim 10, wherein the actuating structure has a U-profile. ### Claim 12 (depends on 1) The apparatus according to claim 1, wherein the extent of movement in a direction substantially perpendicular to the object receiving surface of the conveyor belt is adjustable. ### Claim 13 (depends on 1) The apparatus according to claim 1, further comprising a camera system comprising one or more cameras for obtaining one or more images of the plurality of objects on the object receiving surface. ### Claim 14 (depends on 13) The apparatus according to claim 13, further comprising a light source located underneath the object receiving surface, wherein the conveyor belt is made of a material substantially transparent for radiation emitted by the light source. ### Claim 15 (depends on 13) The apparatus according to claim 13, further comprising a robot provided with a gripping system provided with one or more grippers for picking up individual objects from the object receiving surface for further processing based on information obtained from the one or more images obtained with the camera system. ### Claim 16 (depends on 13) The apparatus according to claim 13, further comprising a control unit for independently controlling movement of the conveyor belt and the actuator based on information obtained from the one or more images obtained with the camera system. ### Claim 17 A method of separating objects comprising: supplying a plurality of objects to an apparatus for separating objects according to any one of the preceding claims; and independently controlling movement of the conveyor belt and the actuating structure to separate the plurality of objects. ### Claim 18 (depends on 17) The method according to claim 17, wherein the apparatus further comprises a camera system comprising one or more cameras for obtaining one or more images of the plurality of objects on the object receiving surface, and wherein independently controlling of the movement of the conveyor belt and the actuator is performed based on analysis of the one or more images. ### Claim 19 (depends on 18) The method of claim 18, wherein the apparatus further comprises a robot provided with a gripping system provided with one or more grippers for picking up individual objects from the object receiving surface, the method further comprising: identifying individual objects among the plurality of objects that are suitable for individual pick up by means of the one or more images obtained with the camera system; and picking up an identified object with the robot for further processing. ### Claim 20 (depends on 17) The method according to claims 17, wherein the apparatus further comprises a control unit being provided with a movement program, and wherein independently controlling movement of the conveyor belt and the actuating structure is executed by the control unit by activating the movement program. ### Claim 21 (depends on 17) A non-transient computer readable medium having computer readable instructions stored thereon for performing, when executed by a processor, the method as defined by claim 17.