The invention relates to a manipulator comprising a swivel for flexible transport of a fluid , intended for the food industry. A swivel is a mechanical coupling comprising two parts which are rotatable relative to each other. The swivel is foreseen for flexible transport of a gas between a fixed part and a part which rotates around the fixed part.

Swivels for transport of fluids are used in several connections. The simplest and most frequently used swivels occur, for example, in applications in vacuum cleaners. According to US 4936059, a swivel is previously known, the task of which is to introduce particles into a swivel, which particles may be used in a jet beam for cutting purposes. According to US 589077, a swivel is previously known for use in offshore applications. The object of the known swivel is to serve as a coupling which can be divided into two parts in a fast and simple way, while at the same time offering an efficient and reliable seal between the parts. To this end, the known swivel is composed of a female part and a male part, which are rotatably arranged inside each other. The two parts adjoin each other along a substantially cylindrical cut surface. Both parts are arranged with inner channels for flowing fluids and have annular slots in the surfaces facing each other. Between these slots, the male part is provided with sealing rings which are operated by hydraulic means.

The known swivels constitute relatively complicated designs with a plurality of parts which must be made with high precision. The known swivels are also relatively heavy.

The object of the invention is to suggest ways and means of manufacturing a swivel which is light, has a simple construction and which is easily detachable for cleaning. The swivel according to the invention is adapted to transport a gas in a vacuum system where a suction cup is adapted to cause objects to adhere thereto.

This object is achieved according to the invention by a swivel according to the characteristic features described in the characterizing portion of the independent claim 1 and by a method according to the characteristic features described in the characterizing portion of the independent method claim 5. Advantageous embodiments are described in the characterizing portions of the dependent claims.

In picking operations in the food industry, it is suitable to grip objects by means of a suction cup. When the suction cup is applied on a shaft for orientation of the object, this is exceedingly suitable. To transmit the suction force, that is, transport gas such that underpressure arises, it is suitable in these contexts to make use of a swivel. Such a swivel may be made simple, that is, it may be made from only a small number of parts. Since it is intended to be placed on a manipulator, it is essential that it incurs a very small increase in weight. This requirement is fulfilled according to the invention in that the swivel is made of light materials, such as plastic or light metal.

An indispensible requirement in the food industry is good hygiene. The devices which operate in such environments must not leave or collect any dirt which may give rise to any colonies of bacteria. It is thus important that these devices can be washed or flushed in a simple manner without the function of the device being jeopardized.

Certain products which are picked in such hygienic environments leave residual particles. It may, for example, be brittle cookies which, during picking, leave crumbs. These residual particles then easily end up on the inside of the swivel and may there give rise to colonies of bacteria. For this reason, according to the invention, the swivel is divisible such that it may be easily detached and that the interior of the swivel may be flushed clean.

To obtain particles from an air flow, it is known to temporarily reduce the speed of the air flow (see, e.g., US 5 344 202 A). This is done by intermittently widening the cut section of the channel surrounding the gas flow. This causes the speed to drop and the particles to fall by the force of gravity from the flow. It is therefore suitable to arrange special pockets where these particles are collected and from where they may be subsequently cleared away.

The swivel is arranged with a part which is fixed to the manipulator and a movable part which is journalled in the fixed part. The fixed part comprises a plate with a detachable cup. Between the plate and the cup a cavity is formed. Journalled in the plate and extending through both the plate and the cup, a rotating rotor arm is arranged which forms the movable part. The robot arm comprises a suction cup which is in contact with the cavity via a first channel. The cup comprises a connection to a second channel which is connected to a device sucking air from the cavity. In this way, the cavity forms a hollow where the air speed is reduced. Particles accompanying the air flow then also lose speed and are instead influenced by the force of gravity. Thus, if particles accompany the air flow, they end up on the inside of the cup. This is adapted to be easily removed, enabling the inside of the swivel to be flushed clean.

The invention will be explained in greater detail by description of an embodiment with reference to the accompanying drawing which shows a section of a swivel according to the invention.

The swivel schematically shown in the figure comprises, in the example, a fixed plate 1 which is attached to a manipulator (not shown). The plate comprises a hub 3, in which an arm 2 associated with the manipulator is rotatably journalled. In the example shown, the arm is journalled by two bearings 4. One end of the arm is connected to a drive system (not shown) of the manipulator. The other end is connected to a suction cup (not shown) for picking objects. The material in the plate as well as in the arm suitably consists of a metal, usually light metal.

Around the hub 3 and surrounding part of the arm 2, a cup 5 is arranged, which between itself and the arm encloses a hollow, a cavity 6. The arm penetrates the bottom 10 of the cup. To obtain good sealing in this portion, the cup is arranged with a seal which allows the arm to rotate. The cup is connected to the hub by means of an easily detachable joint. In one embodiment, the joint may consist of a thread, arranged internally of the cup, which fits into an external thread of the hub. In another embodiment, the cup is made of an elastic material and adapted to be fitted over the hub with its open part. Good sealing is obtained solely by the elastic pressure exerted by the cup against the hub. One or more grooves may also be arranged in one of the bodies, for example the hub, whereby corresponding flanged portions of the other body are adapted to fit thereinto.

The arm 2 comprises a first channel 7, which communicates with the cavity 6 by means of an opening 8. The cup 5 is connected, via a second channel 9, to a suction device (not shown) of the manipulator. Two arrows in the figure denote the air flow when creating underpressure in the suction cup. Thus, air flows first through the first channel 7 and opens out into the cavity 6 via the opening 8. From the cavity, the air flows out through the second channel 9. When the air flows through the opening 8, the area of the channel is widened intermittently, whereby the air speed is reduced.

Particles which accompany the air flow then stop and fall downwards under the influence of the force of gravity. In the figure, these particles fall to the bottom 10 of the cup. The separated particles are then cleaned away from the cup by detaching the cup. When the cup has been detached, also the inner parts of the swivel may be flushed off.

Within the scope of the invention, also other embodiment of the swivel are feasible, as defined by the appended claims. Thus, the sought cavity may be arranged in other ways as well. For example, the cup may be attached to the rotatable arm and be journalled against the fixed part.