CN107262387A - A kind of blocks of solid building waste sorting system based on Through Several Survey Measure - Google Patents
A kind of blocks of solid building waste sorting system based on Through Several Survey Measure Download PDFInfo
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- CN107262387A CN107262387A CN201710523154.2A CN201710523154A CN107262387A CN 107262387 A CN107262387 A CN 107262387A CN 201710523154 A CN201710523154 A CN 201710523154A CN 107262387 A CN107262387 A CN 107262387A
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- blocks
- building waste
- solid building
- sorting
- industrial robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3416—Sorting according to other particular properties according to radiation transmissivity, e.g. for light, x-rays, particle radiation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0054—Sorting of waste or refuse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Sorting Of Articles (AREA)
Abstract
The present invention relates to a kind of blocks of solid building waste sorting system based on Through Several Survey Measure, sensor detection identification mechanism includes conveyer belt, the sensor array with a variety of detection functions；Industrial robot mechanism for sorting includes multiple industrial robots, multiple sorting casees；Control system connects sensor array, industrial robot respectively, and sensor array is detected in real time, the information of control system analysis sensor array collection, and different types of blocks of solid building waste is sorted in corresponding sorting case by control industrial robot.Fixture is housed on the mechanical arm of industrial robot, blocks of solid building waste on conveyer belt is captured by fixture, blocks of solid building waste is moved to above sorting case by the movement of mechanical arm, fixture is decontroled, the blocks of solid building waste of sorting is dropped into inside sorting case, so as to realize effective sorting of blocks of solid building waste.
Description
Technical field
The present invention relates to blocks of solid building waste Sorting Technique, a variety of detection sides are based on more specifically to one kind
The blocks of solid building waste sorting system of formula.
Background technology
Building waste refers to the solid waste produced in process of construction or in old building maintenance and demolishing process, bag
Include the waste materials such as soil, stone, concrete block, brickbat, timber, metal, pipeline and electrical equipment.Building waste is considered as to mislay
Resource, account for more than 90% stone, concrete block, brickbat, with stable physics and chemical property, returning with height
The property received and cyclicity.The professor's research of horse bezoar state of Wuhan University of Technology has shown that silica, calcium oxide in Solid construction rubbish powder
Contents of Main Components such as (calcium carbonate or anorthite in calcium hydroxide, hydrated calcium silicate, drated calcium aluminate, rubble etc.) is distinguished
For 52.4% and 20.48%, in addition with chemical compositions such as alundum (Al2O3), di-iron trioxide, magnesia.Each thing of building waste
The chemical composition of matter is different, and physical property is also different, these physical characteristics include specific surface area, normal consistency,
Relative density etc..
With the development of China's urban construction, building waste processing has formed the environment difficulties of sternness.Current China builds
Building refuse recycling level is relatively low, and the recycling to building waste is confined to simple process, so as to cause the wasting of resources, soil
The environmental problem such as earth and underground water pollution, carries out construction refuse resource using the necessarily choosing for being China's sustainable development energetically
Select.
European and American developed countries' existing protracted experience and technological reserve (including face in terms of life and industrial refuse Sorting Technique
Color identification, infrared spectrum, visible spectrum, electromagnetic sensor, X-ray transmission and XRF etc.).Due to domestic External building rubbish
Rubbish feature difference difference is than larger, and external same category of device is in terms of requirement is sorted and domestic also different, its main product
It is to be reclaimed for life and industrial refuse.Wherein, German Tao Lang (TITECH) is the garbage sorting instrument factory of American-European countries's main flow
Business, with rich experience and technological reserve, exploitation realizes a series of lives and the sorting of industrial refuse.German Kleemann
The movable crusher and screening machine of (crin is graceful) can be applied to the recycling of discarded concrete solid refuse, can be by coagulation
The bulk building solid rubbish such as soil, brick, stone material is processed into and can reclaim aggregate, and reclaims from armored concrete waste steel bar.
China's construction refuse resource level is relatively low, is confined to simple process using most of to building waste, does not open
Exhibition deeply work.It is domestic in recent years that the rational recycling of building waste progress is increasingly paid attention to, increasing equipment
Manufacturing enterprise is put into the exploitation and production of building waste sorting device, typically has the U.S. heavy mining machinery of upper seamount limited
Company's (referred to as " mountain U.S. ore deposit machine ", equipment Imported From German EMH Company Ha Zi marks company building castoff comprehensive utilization complete set of equipments), Fujian south
Pavement construction machinery Co., Ltd, Fujian different mountain intelligent machine limited company, Henan dawn heavy industry Science and Technology Co., Ltd., north
Jing Shande technologies (including its holding Zhengzhou Yifan Machinary Co., Ltd) and upper marine rich heavy industry Machinery Co., Ltd. etc..
However, China's construction refuse resource is using comprehensive application technology and the research of industrialization demonstration is lacked, especially
It is the absence for the treatment of construction waste technique and the applicability research and development and design of equipment.The application of new technology is limited, even if some markets
More ripe detection technique is not also applied, the laser sorting technology such as applied in food service industry.
Method for separating general at present has selection by winnowing, electromagnetic separation, vibratory sieve sorting, the sorting of combustible Clothoid type, difference in specific gravity
The finely sorting etc. of sorting, incombustible.Different type material classification is better, and recovery value is higher.Existing domestic building waste
Sorting device there are problems that separating unlike material material difficulty, the big cost height of different material difficulty of especially close proportion
Etc. technical problem, (typically, the proportion of concrete is 1.6, and sinters the proportion 1.3 of fragment of brick, and concrete and fragment of brick compare heavy phase
Closely).Realize that the finely sorting of building waste is relatively difficult and cost is higher, wherein how to be efficiently separated out from sandstone aggregate
The different material such as fragment of brick and concrete block is to improve the key technical problems that resource reutilization quality needs to solve.And build
Building refuse discarded object usually requires that after adjustment granular size becomes uniformly effectively sorting could be realized by multiple mechanical phases, leads to
Cross disintegrating machine or pulverizer to realize, consume mass energy.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of refuse classification final stage of can substituting
Manual sorting, can also directly sort waste to omit the destruction step for being used for adjusting particle size of the initial consumption energy
The blocks of solid building waste sorting system based on Through Several Survey Measure of (recycle without damage).
Technical scheme is as follows：
A kind of blocks of solid building waste sorting system based on Through Several Survey Measure, sensor detection identification mechanism, control
System processed, industrial robot mechanism for sorting；
Sensor detection identification mechanism includes conveyer belt, the sensor array with a variety of detection functions；Industrial robot
Mechanism for sorting includes multiple industrial robots, multiple sorting casees；Control system connects sensor array, industrial robot respectively,
Different types of blocks of solid building waste is sorted to correspondence by the information of analyte sensors array acquisition, control industrial robot
Sorting case in.
Preferably, along the transmission direction of conveyer belt, sensor array is arranged on before industrial robot, and blocks of solid is built
Building refuse first passes through sensor array and carries out detection identification with the transmission of conveyer belt；Blocks of solid building waste is in conveyer belt
The crawl working region for transporting to industrial robot is uploaded, industrial robot is built according to the instruction of control system to blocks of solid
Rubbish is sorted.
Preferably, sensor array includes near infrared spectrum detection sub-module, X-ray detection submodule and common physical
Characteristics Detection submodule, the transmitter and receiver of near infrared spectrum detection sub-module are respectively and fixedly installed to the top of conveyer belt
And lower section, the transmitter and receiver of X-ray detection submodule be respectively and fixedly installed to above and below conveyer belt, general thing
Reason Characteristics Detection submodule is fixedly mounted on above or below conveyer belt.
Preferably, near infrared spectrum detection sub-module, X-ray detection submodule and common physical Characteristics Detection submodule
Investigative range cover the whole width of conveyer belt.
Preferably, common physical Characteristics Detection submodule includes image visual transducer, photoelectric sensor, microwave sensing
One or more of device, ultrasonic sensor or electromagnetic sensor.
Preferably, shooting blocks of solid building waste using image visual transducer, different types of blocks of solid is built
Building refuse represents that control system is put to corresponding sorting case according to color, control industrial robot crawl in different colors.
Preferably, control system includes signal processing system, sensor fusion and machine learning algorithm are performed, by adopting
Collection typical sample makes industrial robot learn the object type of needs crawl, and controls industrial robot by different types of piece
Shape Solid construction rubbish is grabbed in corresponding sorting case.
Preferably, control of the control system to industrial robot includes determining XYZ coordinate, rotation, crawl, relieving.
Preferably, industrial robot is separately positioned on the both sides of conveyer belt, the manipulator of industrial robot with sorting case
Fixture is housed on arm, the blocks of solid building waste on conveyer belt, the movement of control machinery arm, by bulk are captured by fixture
Solid construction rubbish is moved to above sorting case, and control fixture is decontroled, and the blocks of solid building waste of sorting falls into sorting case.
Preferably, the discharge position that enters of conveyer belt is provided with material loosening device, blocks of solid building waste is separately sufficient
Enough spacing, make blocks of solid building waste not overlap.
Beneficial effects of the present invention are as follows：
Blocks of solid building waste sorting system of the present invention based on Through Several Survey Measure, sensor detection identification
Mechanism includes conveyer belt, the sensor array with a variety of detection functions；Industrial robot mechanism for sorting includes multiple industrial machines
Device people, multiple sorting casees；Control system connects sensor array, industrial robot respectively, and sensor array is detected in real time, control
Different types of blocks of solid building waste is sorted to by the information of network analysis sensor array collection, control industrial robot
In corresponding sorting case.Fixture is housed on the mechanical arm of industrial robot, the blocks of solid on conveyer belt is captured by fixture
Blocks of solid building waste, is moved to above sorting case, fixture is decontroled, sorting by building waste by the movement of mechanical arm
Blocks of solid building waste is dropped into inside sorting case, so as to realize effective sorting of blocks of solid building waste.
Compared with existing equipment, the present invention can make blocks of solid building waste without broken, you can directly be sorted,
Energy resource consumption is saved, cost performance is improved and replaces manually sorting heavier and toxic material.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention (control system end is shown)；
Fig. 2 is the real flow chart into sorting of the invention；
In figure：10 be conveyer belt, and 11 be sensor array, and 20 be industrial robot, and 21 be mechanical arm, and 22 be fixture,
23 be sorting case.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
The present invention causes consumption to increase, efficiency to solve to pre-process and could be sorted the need for prior art is present
It is more low not enough there is provided a kind of blocks of solid building waste sorting system based on Through Several Survey Measure, as shown in Figure 1 and Figure 2,
Sensor detection identification mechanism, control system, industrial robot mechanism for sorting；
Sensor detection identification mechanism includes conveyer belt 10, the sensor array 11 with a variety of detection functions；Through pre- point
The treated blocks of solid building waste dispersed distribution of choosing is at the uniform velocity transmitted on conveyer belt 10 by conveyer belt 10.In the present invention,
Sensor array 11 includes near infrared spectrum detection sub-module, X-ray detection submodule and common physical Characteristics Detection submodule,
The transmitter and receiver of near infrared spectrum detection sub-module are respectively and fixedly installed to above and below conveyer belt 10, X-ray
The transmitter and receiver of detection sub-module are respectively and fixedly installed to above and below conveyer belt 10, common physical Characteristics Detection
Submodule is fixedly mounted on above or below conveyer belt 10.Using conveyer belt 10 transmit this section of block Solid construction rubbish as
Active section, near infrared spectrum detection sub-module, X-ray detection submodule and common physical Characteristics Detection submodule are arranged at work
Make in the length range of section.Near infrared spectrum detection sub-module, X-ray detection submodule and common physical Characteristics Detection submodule
Investigative range cover the whole width of conveyer belt 10.
In the present embodiment, common physical Characteristics Detection submodule includes image visual transducer, photoelectric sensor, microwave and passed
One or more of sensor, ultrasonic sensor or electromagnetic sensor.Blocks of solid is shot when using image visual transducer
Building waste, different types of blocks of solid building waste represents that control system controls industrial machine according to color in different colors
Device people 20 captures, and puts to corresponding sorting case 30.
The mechanism for sorting of industrial robot 20 includes multiple industrial robots 20, multiple sorting casees 23；Control system connects respectively
Sensor array 11, industrial robot 20 are connect, the information that analyte sensors array 11 is gathered controls industrial robot 20 by difference
The blocks of solid building waste of type is sorted in corresponding sorting case 23.During work, multiple industrial robots 20 can be simultaneously
Work, the blocks of solid building waste of respectively different type is sorted to corresponding sorting case 23, improves the efficiency of sorting.This implementation
In example, industrial robot 20 is separately positioned on the both sides of conveyer belt 10, the mechanical arm 21 of industrial robot 20 with sorting case 23
It is upper that fixture 22 is housed, can be air-actuated jaw 22 or the fixture 22 of other driving forces.Captured by fixture 22 on conveyer belt 10
Blocks of solid building waste is moved to the top of sorting case 23, control by blocks of solid building waste, the movement of control machinery arm 21
Fixture 22 processed is decontroled, and the blocks of solid building waste of sorting falls into sorting case 23.
Due to the data that control system is gathered to the control of industrial robot 20 based on sensor array 11, then blocks of solid
When building waste drops down onto conveyer belt 10, advanced line sensor detection identification, then carry out subsequent operation.Then along the transmission of conveyer belt 10
Direction, sensor array 11 is arranged on before industrial robot 20, and blocks of solid building waste is first with the transmission of conveyer belt 10
Detection identification is carried out by sensor array 11；Blocks of solid building waste uploads in conveyer belt 10 and transports to industrial robot 20
Working region is captured, industrial robot 20 is sorted according to the instruction of control system to blocks of solid building waste.
Control system includes signal processing system, sensor fusion and machine learning algorithm is performed, by gathering typical sample
Originally industrial robot 20 is learnt the object type of needs crawl, and control industrial robot 20 will be different types of block solid
Body building waste is grabbed in corresponding sorting case 23.By machine learning, it can preferentially capture valuable blocks of solid and build
Building refuse is sorted, and improves sorting added value.Control of the control system to industrial robot 20 includes determining XYZ coordinate, rotation
Turn, capture, decontrol, or other frees degree.Wherein it is determined that XYZ coordinate is mainly used in the space bit of control machinery arm 21
Put, such as right position, height parameter.
In order that the information that the present invention is gathered when carrying out detection identification is more accurate, and during crawl, blocks of solid
There is enough spaces between building waste, blocks of solid building waste is captured for fixture 22.Then conveyer belt 10
Enter discharge position and be provided with material loosening device, by the separated enough spacing of blocks of solid building waste, blocks of solid is built rubbish
Rubbish does not overlap.
Above-described embodiment is intended merely to the explanation present invention, and is not used as limitation of the invention.As long as according to this hair
Bright technical spirit, is changed, modification etc. will all fall in the range of the claim of the present invention to above-described embodiment.
Claims (10)
1. a kind of blocks of solid building waste sorting system based on Through Several Survey Measure, it is characterised in that sensor detection is known
Other mechanism, control system, industrial robot mechanism for sorting；
Sensor detection identification mechanism includes conveyer belt, the sensor array with a variety of detection functions；Industrial robot is sorted
Mechanism includes multiple industrial robots, multiple sorting casees；Control system connects sensor array, industrial robot respectively, analysis
Different types of blocks of solid building waste is sorted to corresponding point by the information of sensor array collection, control industrial robot
Pick in case.
2. the blocks of solid building waste sorting system according to claim 1 based on Through Several Survey Measure, its feature exists
In along the transmission direction of conveyer belt, sensor array is arranged on before industrial robot, and blocks of solid building waste is with transmission
The transmission of band, first passes through sensor array and carries out detection identification；Blocks of solid building waste is transmitted to industrial machine on a moving belt
The crawl working region of device people, industrial robot is sorted according to the instruction of control system to blocks of solid building waste.
3. the blocks of solid building waste sorting system according to claim 1 based on Through Several Survey Measure, its feature exists
In sensor array includes near infrared spectrum detection sub-module, X-ray detection submodule and common physical Characteristics Detection submodule
Block, the transmitter and receiver of near infrared spectrum detection sub-module are respectively and fixedly installed to above and below conveyer belt, X-ray
The transmitter and receiver of detection sub-module are respectively and fixedly installed to above and below conveyer belt, common physical Characteristics Detection
Module is fixedly mounted on above or below conveyer belt.
4. the blocks of solid building waste sorting system according to claim 3 based on Through Several Survey Measure, its feature exists
In the investigative range of near infrared spectrum detection sub-module, X-ray detection submodule and common physical Characteristics Detection submodule is covered
The whole width of lid conveyer belt.
5. the blocks of solid building waste sorting system according to claim 4 based on Through Several Survey Measure, its feature exists
In common physical Characteristics Detection submodule includes image visual transducer, photoelectric sensor, microwave remote sensor, supersonic sensing
One or more of device or electromagnetic sensor.
6. the blocks of solid building waste sorting system according to claim 5 based on Through Several Survey Measure, its feature exists
In using image visual transducer shooting blocks of solid building waste, different types of blocks of solid building waste is with different face
Color table shows that control system is put to corresponding sorting case according to color, control industrial robot crawl.
7. the blocks of solid building waste sorting system according to claim 1 based on Through Several Survey Measure, its feature exists
In control system includes signal processing system, performs sensor fusion and machine learning algorithm, makes work by gathering typical sample
Industry robot learning needs the object type captured, and controls industrial robot by different types of blocks of solid building waste
Grab in corresponding sorting case.
8. the blocks of solid building waste sorting system according to claim 7 based on Through Several Survey Measure, its feature exists
In control of the control system to industrial robot includes determining XYZ coordinate, rotation, crawl, relieving.
9. the blocks of solid building waste sorting system according to claim 8 based on Through Several Survey Measure, its feature exists
In industrial robot is separately positioned on the both sides of conveyer belt, the mechanical arm of industrial robot with sorting case and fixture is housed, and leads to
The blocks of solid building waste crossed on fixture crawl conveyer belt, the movement of control machinery arm moves blocks of solid building waste
Move above sorting case, control fixture is decontroled, and the blocks of solid building waste of sorting falls into sorting case.
10. the blocks of solid building waste sorting system according to claim 1 based on Through Several Survey Measure, its feature exists
In the discharge position that enters of conveyer belt is provided with material loosening device, by the separated enough spacing of blocks of solid building waste, makes bulk
Solid construction rubbish does not overlap.
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| CN201710523154.2A CN107262387B (en) | 2017-06-30 | 2017-06-30 | Blocky solid construction waste sorting system based on multiple detection modes |
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| CN201710523154.2A CN107262387B (en) | 2017-06-30 | 2017-06-30 | Blocky solid construction waste sorting system based on multiple detection modes |
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| CN107262387B CN107262387B (en) | 2020-09-25 |
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| CN107999399A (en) * | 2017-12-27 | 2018-05-08 | 华侨大学 | Building waste on-line sorting system and method based on the detection of dot matrix EO-1 hyperion |
| CN107999405A (en) * | 2017-12-27 | 2018-05-08 | 华侨大学 | A kind of building waste on-line sorting system and method for sorting |
| CN108117290A (en) * | 2017-12-26 | 2018-06-05 | 中城绿建科技有限公司 | Building castoff recycling recycles method of disposal |
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