CN107262387B - Blocky solid construction waste sorting system based on multiple detection modes - Google Patents
Blocky solid construction waste sorting system based on multiple detection modes Download PDFInfo
- Publication number
- CN107262387B CN107262387B CN201710523154.2A CN201710523154A CN107262387B CN 107262387 B CN107262387 B CN 107262387B CN 201710523154 A CN201710523154 A CN 201710523154A CN 107262387 B CN107262387 B CN 107262387B
- Authority
- CN
- China
- Prior art keywords
- solid construction
- sorting
- construction waste
- industrial robot
- conveyor belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention relates to a sorting system for blocky solid construction wastes based on multiple detection modes.A sensor detection and identification mechanism comprises a conveyor belt and a sensor array with multiple detection functions; the industrial robot sorting mechanism comprises a plurality of industrial robots and a plurality of sorting boxes; the control system is respectively connected with the sensor array and the industrial robot, the sensor array detects in real time, the control system analyzes information collected by the sensor array and controls the industrial robot to sort the massive solid construction wastes of different types into the corresponding sorting boxes. The industrial robot's the robotic arm is equipped with anchor clamps on, snatchs cubic solid construction waste on the conveyer belt through anchor clamps, removes cubic solid construction waste to letter sorting case top through robotic arm's removal, and anchor clamps are released, and the cubic solid construction waste of letter sorting falls into letter sorting case the inside to realize the effective letter sorting of cubic solid construction waste.
Description
Technical Field
The invention relates to a technology for sorting blocky solid construction waste, in particular to a system for sorting blocky solid construction waste based on multiple detection modes.
Background
The construction waste refers to solid waste generated in the process of construction or the process of maintenance and demolition of old buildings, and comprises waste materials such as soil, stones, concrete blocks, broken bricks, wood, metal, pipelines, electrical appliances and the like. The construction waste is regarded as a misplaced resource, accounts for more than 90% of stones, concrete blocks and broken bricks, has stable physical and chemical properties, and has high recyclability and recyclability. The research of professor of Ma Bao nationality of Wuhan theory university proves that the contents of main components such as silicon dioxide, calcium oxide (calcium hydroxide, calcium silicate hydrate, calcium aluminate hydrate, calcium carbonate in broken stone or anorthite and the like) and the like in the solid construction waste powder are respectively 52.4 percent and 20.48 percent, and chemical components such as aluminum oxide, ferric oxide, magnesium oxide and the like are also added. The chemical components of the substances of the construction waste are different, and the physical properties of the substances are different, wherein the physical properties comprise specific surface area, standard consistency, relative density and the like.
Along with the development of urban construction in China, the treatment of construction waste has formed a severe environmental problem. At present, the resource utilization level of the construction waste in China is low, the recycling of the construction waste is limited to simple treatment, so that the environmental problems of resource waste, soil and underground water pollution and the like are caused, and the resource utilization of the construction waste is vigorously pushed to be a necessary choice for sustainable development in China.
Developed countries in europe and america have long experienced and technical reserves (including color recognition, infrared spectroscopy, visible spectroscopy, electromagnetic sensors, X-ray transmission, X-ray fluorescence, etc.) in the area of domestic and industrial waste sorting technologies. Because the difference of characteristics of domestic and foreign construction wastes is large, the domestic and foreign similar equipment is different from domestic equipment in the aspect of sorting requirements, and the main product of the domestic and industrial waste recycling equipment is aimed at recycling domestic and industrial wastes. Among them, germany taylon (TITECH) is a mainstream waste sorting equipment manufacturer in europe and america, has abundant experience and technical reserve, and develops and realizes sorting of a series of domestic and industrial wastes. The mobile crusher and the sieving machine of Kleemann (Kremenn) in Germany can be applied to the recycling of waste concrete solid garbage, can process massive building solid garbage such as concrete, bricks, stones and the like into recyclable aggregate, and can recycle waste steel bars from reinforced concrete.
The resource level of the construction waste in China is low, most of the utilization of the construction waste is limited to simple treatment, and deep work is not carried out. In recent years, more and more importance is placed on reasonable resource utilization of construction waste in China, more and more equipment manufacturing enterprises are put into development and production of construction waste sorting equipment, and typically, the construction equipment comprises Shanghai heavy mining machinery company Limited (abbreviated as "Shanmei mining machine", introduced into construction waste comprehensive utilization complete equipment of Germany Hatzmark company), Fujian southern pavement machinery company Limited, Fujian Ningfeng intelligent machinery company Limited, Henan Li Ming re-engineering science and technology company Limited, Beijing Shande technology (Zhengzhou Yifan machinery equipment corporation including the Henan Ming re-engineering technology company Limited), Shanghai Bo re-engineering machinery company Limited and the like.
However, the resource utilization of the construction waste in China lacks comprehensive application technology and research of industrial demonstration, and particularly lacks the applicability research, development and design of a construction waste disposal process and equipment. The application of the new technology is limited, and even some detection technologies which are mature in the market are not applied, such as a laser sorting technology applied in the food industry and the like.
The current general sorting method comprises air separation, electromagnetic sorting, vibrating screen sorting, combustible material rotary sorting, specific gravity differential sorting, noncombustible material fine sorting and the like. The better the classification of the different types of substances, the higher the recovery value. The existing domestic construction waste sorting equipment has the problems of high difficulty in separating different materials and the like, and particularly has the technical problems of high difficulty, high cost and the like of different materials with similar specific gravity (typically, the specific gravity of concrete is 1.6, the specific gravity of sintered bricks is 1.3, and the specific gravity of concrete and bricks is similar). The realization of the fine sorting of the construction waste is difficult and the cost is high, wherein how to effectively separate bricks, concrete blocks and other different substances from the sand and stone aggregate is a key technical difficulty to be solved for improving the resource recycling quality. And the construction waste generally can be effectively sorted after the particle size is adjusted to be uniform through a plurality of mechanical stages, and is realized through a crusher or a pulverizer, so that a large amount of energy is consumed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a sorting system for blocky solid construction wastes based on multiple detection modes, which can replace manual sorting in the final stage of waste classification and can directly sort wastes so as to omit the crushing step (nondestructive recovery) for adjusting the particle size, wherein the crushing step consumes energy initially.
The technical scheme of the invention is as follows:
a sorting system for massive solid construction waste based on multiple detection modes comprises a sensor detection and identification mechanism, a control system and an industrial robot sorting mechanism;
the sensor detection and identification mechanism comprises a conveyor belt and a sensor array with multiple detection functions; the industrial robot sorting mechanism comprises a plurality of industrial robots and a plurality of sorting boxes; the control system is respectively connected with the sensor array and the industrial robot, analyzes information collected by the sensor array, and controls the industrial robot to sort different types of blocky solid construction waste into corresponding sorting boxes.
Preferably, the sensor array is arranged in front of the industrial robot along the conveying direction of the conveying belt, and the massive solid construction waste is detected and identified through the sensor array along with the conveying of the conveying belt; the massive solid construction waste is transmitted to a grabbing working area of the industrial robot on the conveyor belt, and the industrial robot sorts the massive solid construction waste according to an instruction of the control system.
Preferably, the sensor array comprises a near infrared spectrum detection submodule, an X-ray detection submodule and a general physical characteristic detection submodule, wherein a transmitter and a receiver of the near infrared spectrum detection submodule are respectively and fixedly installed above and below the conveyor belt, a transmitter and a receiver of the X-ray detection submodule are respectively and fixedly installed above and below the conveyor belt, and the general physical characteristic detection submodule is fixedly installed above or below the conveyor belt.
Preferably, the detection ranges of the near infrared spectrum detection submodule, the X-ray detection submodule and the universal physical characteristic detection submodule cover the whole width direction of the conveyor belt.
Preferably, the common physical property detection submodule includes one or more of a visual image sensor, a photoelectric sensor, a microwave sensor, an ultrasonic sensor, or an electromagnetic sensor.
Preferably, the block solid construction waste is shot by using a visual image sensor, different types of block solid construction waste are expressed by different colors, and the control system controls the industrial robot to grab and place the block solid construction waste into the corresponding sorting box according to the colors.
Preferably, the control system comprises a signal processing system, executes sensor fusion and machine learning algorithms, enables the industrial robot to learn the type of the object to be grabbed by collecting typical samples, and controls the industrial robot to grab different types of the massive solid construction wastes into the corresponding sorting bins.
Preferably, the control of the industrial robot by the control system comprises the determination of XYZ coordinates, rotation, gripping, releasing.
As preferred, industrial robot and letter sorting case set up respectively in the both sides of conveyer belt, and industrial robot's the robotic arm is equipped with anchor clamps on, snatchs cubic solid construction waste on the conveyer belt through anchor clamps, and control robotic arm's removal removes cubic solid construction waste to letter sorting case top, and control anchor clamps are released, and the cubic solid construction waste of letter sorting falls into the letter sorting case.
Preferably, a material loosening device is arranged at the feeding position of the conveying belt, and the blocky solid construction waste is separated by a sufficient distance so that the blocky solid construction waste is not overlapped.
The invention has the following beneficial effects:
according to the sorting system for the blocky solid construction wastes based on multiple detection modes, the sensor detection and identification mechanism comprises a conveyor belt and a sensor array with multiple detection functions; the industrial robot sorting mechanism comprises a plurality of industrial robots and a plurality of sorting boxes; the control system is respectively connected with the sensor array and the industrial robot, the sensor array detects in real time, the control system analyzes information collected by the sensor array and controls the industrial robot to sort the massive solid construction wastes of different types into the corresponding sorting boxes. The industrial robot's the robotic arm is equipped with anchor clamps on, snatchs cubic solid construction waste on the conveyer belt through anchor clamps, removes cubic solid construction waste to letter sorting case top through robotic arm's removal, and anchor clamps are released, and the cubic solid construction waste of letter sorting falls into letter sorting case the inside to realize the effective letter sorting of cubic solid construction waste.
Compared with the prior art, the invention can directly sort the blocky solid construction wastes without crushing, saves energy consumption, improves cost performance, and replaces manpower to sort heavier and toxic substances.
Drawings
FIG. 1 is a schematic structural diagram of the present invention (control system not shown);
FIG. 2 is a flow chart of the present invention for performing sorting;
in the figure: 10 is a conveyor belt, 11 is a sensor array, 20 is an industrial robot, 21 is a robot arm, 22 is a gripper, and 23 is a sorting bin.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to solve the defects of increased consumption, lower efficiency and the like caused by the fact that sorting can be carried out only by pretreatment in the prior art, the invention provides a sorting system for blocky solid construction wastes based on a plurality of detection modes, as shown in figures 1 and 2, a sensor detection and identification mechanism, a control system and an industrial robot sorting mechanism;
the sensor detection and identification mechanism comprises a conveyor belt 10 and a sensor array 11 with multiple detection functions; the blocky solid construction waste subjected to the pre-sorting treatment is dispersedly distributed on the conveyor belt 10 and is conveyed at a constant speed by the conveyor belt 10. In the invention, the sensor array 11 comprises a near infrared spectrum detection submodule, an X-ray detection submodule and a general physical characteristic detection submodule, wherein a transmitter and a receiver of the near infrared spectrum detection submodule are respectively and fixedly arranged above and below the conveyor belt 10, a transmitter and a receiver of the X-ray detection submodule are respectively and fixedly arranged above and below the conveyor belt 10, and the general physical characteristic detection submodule is fixedly arranged above or below the conveyor belt 10. The section of the conveyor belt 10 for conveying the blocky solid construction waste is used as a working section, and the near infrared spectrum detection submodule, the X-ray detection submodule and the universal physical characteristic detection submodule are all arranged in the length range of the working section. The detection ranges of the near infrared spectrum detection submodule, the X-ray detection submodule and the general physical characteristic detection submodule all cover the whole width direction of the conveyor belt 10.
In this embodiment, the common physical property detection sub-module includes one or more of a visual image sensor, a photoelectric sensor, a microwave sensor, an ultrasonic sensor, or an electromagnetic sensor. When the visual image sensor is used to photograph the massive solid construction waste, different types of massive solid construction waste are expressed in different colors, and the control system controls the industrial robot 20 to grab and place the massive solid construction waste into the corresponding sorting bin 30 according to the colors.
The sorting mechanism of the industrial robot 20 includes a plurality of industrial robots 20, a plurality of sorting bins 23; the control system is respectively connected with the sensor array 11 and the industrial robot 20, analyzes information collected by the sensor array 11, and controls the industrial robot 20 to sort different types of blocky solid construction wastes into the corresponding sorting boxes 23. During operation, a plurality of industrial robots 20 can simultaneous working, and cubic solid construction waste of different grade type sorts to the letter sorting case 23 that corresponds respectively, improves the efficiency of letter sorting. In this embodiment, the industrial robot 20 and the sorting box 23 are respectively disposed on two sides of the conveyor belt 10, and the gripper 22, which may be a pneumatic gripper 22 or other driving gripper 22, is mounted on the robot arm 21 of the industrial robot 20. The massive solid construction waste on the conveyor belt 10 is grabbed through the clamp 22, the mechanical arm 21 is controlled to move, the massive solid construction waste is moved to the position above the sorting box 23, the clamp 22 is controlled to release, and the sorted massive solid construction waste falls into the sorting box 23.
Because the control system controls the industrial robot 20 based on the data collected by the sensor array 11, when the massive solid construction waste falls to the conveyor belt 10, the sensor detection and identification are firstly carried out, and then the follow-up operation is carried out. The sensor array 11 is arranged in front of the industrial robot 20 along the conveying direction of the conveyor belt 10, and the massive solid construction waste is detected and identified by the sensor array 11 along with the conveying of the conveyor belt 10; the massive solid construction waste is conveyed to a grabbing work area of the industrial robot 20 on the conveyor belt 10, and the industrial robot 20 sorts the massive solid construction waste according to an instruction of a control system.
The control system includes a signal processing system, performs sensor fusion and machine learning algorithms, enables the industrial robot 20 to learn the type of object to be grasped by collecting typical samples, and controls the industrial robot 20 to grasp different types of bulk solid construction waste into the corresponding sorting bins 23. Through machine learning, valuable massive solid construction waste can be preferentially grabbed for sorting, and the sorting additional value is improved. The control system controls the industrial robot 20 including determining XYZ coordinates, rotation, grasping, releasing, or other degrees of freedom. The XYZ coordinates are determined to mainly control the spatial position of the robot arm 21, such as the left and right position and the height.
In order to make the information collected during detection and identification more accurate, the massive solid construction waste has enough space between the massive solid construction waste in the grabbing process, and the massive solid construction waste is grabbed by the clamp 22. A material loosening device is arranged at the feeding position of the conveyor belt 10 to separate the blocky solid construction waste into enough spaces, so that the blocky solid construction waste is not overlapped.
The above examples are provided only for illustrating the present invention and are not intended to limit the present invention. Changes, modifications, etc. to the above-described embodiments are intended to fall within the scope of the claims of the present invention as long as they are in accordance with the technical spirit of the present invention.
Claims (8)
1. A sorting system for massive solid construction waste based on multiple detection modes is characterized in that a sensor detection and identification mechanism, a control system and an industrial robot sorting mechanism are arranged;
the sensor detection and identification mechanism comprises a conveyor belt and a sensor array with multiple detection functions, the sensor array comprises a near infrared spectrum detection submodule, an X-ray detection submodule and a general physical characteristic detection submodule, a transmitter and a receiver of the near infrared spectrum detection submodule are respectively and fixedly arranged above and below the conveyor belt, the transmitter and the receiver of the X-ray detection submodule are respectively and fixedly arranged above and below the conveyor belt, and the general physical characteristic detection submodule is fixedly arranged above or below the conveyor belt; the universal physical characteristic detection submodule comprises a visual image sensor; the industrial robot sorting mechanism comprises a plurality of industrial robots and a plurality of sorting boxes; the control system is respectively connected with the sensor array and the industrial robot, analyzes information acquired by the sensor array, and controls the industrial robot to sort different types of blocky solid construction wastes into corresponding sorting boxes;
the method comprises the steps that a visual image sensor is used for shooting massive solid construction waste, different types of massive solid construction waste are expressed in different colors, and a control system controls an industrial robot to grab and place the massive solid construction waste into a corresponding sorting box according to the colors.
2. The sorting system for the blocky solid construction wastes based on multiple detection modes according to claim 1, wherein a sensor array is arranged in front of the industrial robot along the conveying direction of the conveyor belt, and the blocky solid construction wastes are detected and identified by the sensor array along with the conveying of the conveyor belt; the massive solid construction waste is transmitted to a grabbing working area of the industrial robot on the conveyor belt, and the industrial robot sorts the massive solid construction waste according to an instruction of the control system.
3. The sorting system for bulk solid construction waste based on multiple detection modes according to claim 1, wherein detection ranges of the near infrared spectrum detection submodule, the X-ray detection submodule and the general physical property detection submodule all cover the whole width direction of the conveyor belt.
4. The sorting system for bulk solid construction waste based on multiple detection modes according to claim 3, wherein the general physical property detection submodule further comprises one or more of a photoelectric sensor, a microwave sensor, an ultrasonic sensor or an electromagnetic sensor.
5. The sorting system for bulk solid construction waste based on multiple detection modes according to claim 1, wherein the control system comprises a signal processing system, executes sensor fusion and machine learning algorithms, enables the industrial robot to learn the type of the object to be grabbed by collecting typical samples, and controls the industrial robot to grab different types of bulk solid construction waste into the corresponding sorting bin.
6. The system for sorting solid construction waste based on multiple detection modes according to claim 1, wherein the control system controls the industrial robot including determining XYZ coordinates, rotating, grasping, releasing.
7. The system for sorting solid construction waste based on multiple detection modes as claimed in claim 6, wherein the industrial robot and the sorting bin are respectively arranged at two sides of the conveyor belt, a clamp is arranged on a mechanical arm of the industrial robot, the industrial robot grabs the solid construction waste on the conveyor belt through the clamp, the movement of the mechanical arm is controlled, the solid construction waste is moved above the sorting bin, the clamp is controlled to be released, and the sorted solid construction waste falls into the sorting bin.
8. The sorting system for blocky solid construction wastes based on multiple detection modes according to claim 1, wherein a material loosening device is arranged at a feeding position of the conveyor belt to separate the blocky solid construction wastes by a sufficient distance so that the blocky solid construction wastes are not overlapped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710523154.2A CN107262387B (en) | 2017-06-30 | 2017-06-30 | Blocky solid construction waste sorting system based on multiple detection modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710523154.2A CN107262387B (en) | 2017-06-30 | 2017-06-30 | Blocky solid construction waste sorting system based on multiple detection modes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107262387A CN107262387A (en) | 2017-10-20 |
| CN107262387B true CN107262387B (en) | 2020-09-25 |
Family
ID=60070051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710523154.2A Active CN107262387B (en) | 2017-06-30 | 2017-06-30 | Blocky solid construction waste sorting system based on multiple detection modes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107262387B (en) |
Families Citing this family (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN108126912B (en) * | 2018-01-03 | 2020-05-29 | 陈小钦 | Intelligent civil engineering waste block sorting device |
| CN108273761A (en) * | 2018-03-12 | 2018-07-13 | 华侨大学 | A kind of device and method of sorting building waste |
| CN108672326A (en) * | 2018-05-15 | 2018-10-19 | 上海电机学院 | A kind of small automatic garbage sorting device |
| CN108906659A (en) * | 2018-09-04 | 2018-11-30 | 福建南方路面机械有限公司 | A kind of solid sorting system and method for sorting based on machine vision |
| CN109344894B (en) * | 2018-09-28 | 2023-12-22 | 广州大学 | Garbage classification and identification method and device based on multi-sensor fusion and deep learning |
| CN109675827B (en) * | 2018-12-19 | 2024-03-15 | 福建南方路面机械股份有限公司 | Building rubbish identification and sorting equipment, identification method and grabbing method thereof |
| CN109821746B (en) * | 2019-03-18 | 2019-11-05 | 南京灵雀智能制造有限公司 | A kind of garbage sorting work station and its method for sorting |
| NL2023190B1 (en) * | 2019-05-24 | 2020-12-02 | Univ Delft Tech | Method and device for removing objects from a plane |
| EP3976281A1 (en) * | 2019-05-24 | 2022-04-06 | Technische Universiteit Delft | Apparatus and method for picking up objects off a surface |
| CN110193479B (en) * | 2019-06-27 | 2023-10-10 | 广东弓叶科技有限公司 | Garbage sorting clamping device and garbage automatic sorting equipment |
| SE544132C2 (en) * | 2019-07-29 | 2022-01-11 | Metso Sweden Ab | A beneficiation arrangement for use with geological material |
| CN110369333B (en) * | 2019-08-01 | 2024-02-20 | 安徽芳奎环境治理研究所有限公司 | Automatic sorting system for household garbage |
| CN111215342A (en) * | 2019-12-02 | 2020-06-02 | 江西纳森科技有限公司 | Industrial garbage classification and sorting system |
| CN111215343A (en) * | 2019-12-04 | 2020-06-02 | 苏州毫厘文化传媒科技有限公司 | Sorting robot control system on production line |
| CN111360042A (en) * | 2020-04-20 | 2020-07-03 | 上海环境工程设计研究院有限公司 | Building decoration garbage recycling treatment system and process |
| CN111921905A (en) * | 2020-08-07 | 2020-11-13 | 张静 | Environment-friendly solid waste treatment device |
| CN111994610B (en) * | 2020-08-08 | 2021-11-05 | 苏州麟琪程科技有限公司 | Automatic sorting device for logistics conveyor |
| CN112222142A (en) * | 2020-08-27 | 2021-01-15 | 南京涵铭置智能科技有限公司 | Intelligent sorting device and method for urban household garbage |
| US11779934B2 (en) * | 2020-09-08 | 2023-10-10 | Recycled Granite Corporation | Aggregate production system and method |
| CN112620143B (en) * | 2020-11-02 | 2021-10-22 | 广东德济环境发展有限公司 | Garbage classification monitoring and processing system |
| WO2022102135A1 (en) * | 2020-11-16 | 2022-05-19 | 株式会社Fuji | Foreign matter removal system |
| CN112660645B (en) * | 2020-12-23 | 2023-03-07 | 滨州学院 | High-rise building garbage cleaning robot and automatic cleaning method |
| CN112934718B (en) * | 2021-01-25 | 2022-07-15 | 深圳市宝安湾建筑废弃物循环利用有限公司 | Treatment process for decoration waste and construction waste |
| CN113000547B (en) * | 2021-01-25 | 2022-06-07 | 福建名盛美洁环境工程有限公司 | River course rubbish cleans intelligent classification recovery unit |
| CN113083703A (en) * | 2021-03-10 | 2021-07-09 | 浙江博城机器人科技有限公司 | Control method of garbage sorting robot based on unmanned navigation |
| CN112791990B (en) * | 2021-04-06 | 2021-07-02 | 建研建材有限公司 | Decoration garbage sorting system and sorting process |
| CN113441420A (en) * | 2021-06-29 | 2021-09-28 | 中国天楹股份有限公司 | Novel high-efficient intelligent combination is useless sorting admittedly device |
| CN113600591A (en) * | 2021-07-14 | 2021-11-05 | 上海嘉春装饰设计工程有限公司 | Method for treating building decoration waste |
| CN114733873A (en) * | 2022-04-27 | 2022-07-12 | 浡江生态建设集团有限公司 | Building site building rubbish processing apparatus |
| CN115365166B (en) * | 2022-10-26 | 2023-03-24 | 国家电投集团科学技术研究院有限公司 | Garbage identification and sorting system and sorting method |
| CN116921247B (en) * | 2023-09-15 | 2023-12-12 | 北京安麒智能科技有限公司 | Control method of intelligent garbage sorting system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012156579A1 (en) * | 2011-05-13 | 2012-11-22 | Zenrobotics Oy | Method and apparatus for moving and positioning a gripping unit, and a robot provided with gripping unit |
| CN104690729A (en) * | 2015-01-26 | 2015-06-10 | 绿索仕(徐州)环境科技有限公司 | Robot for sorting construction wastes |
| CN204934041U (en) * | 2015-07-31 | 2016-01-06 | 泉州装备制造研究所 | Based on the blocks of solid building waste sorting system of Through Several Survey Measure |
| CN106540887A (en) * | 2015-09-22 | 2017-03-29 | 徐州绿之源环境科技有限公司 | Building waste intelligent robot sorting system and method |
| CN106607925A (en) * | 2015-10-21 | 2017-05-03 | 于平 | Novel garbage disposal manipulator system and intelligent control method thereof |
-
2017
- 2017-06-30 CN CN201710523154.2A patent/CN107262387B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012156579A1 (en) * | 2011-05-13 | 2012-11-22 | Zenrobotics Oy | Method and apparatus for moving and positioning a gripping unit, and a robot provided with gripping unit |
| CN104690729A (en) * | 2015-01-26 | 2015-06-10 | 绿索仕(徐州)环境科技有限公司 | Robot for sorting construction wastes |
| CN204934041U (en) * | 2015-07-31 | 2016-01-06 | 泉州装备制造研究所 | Based on the blocks of solid building waste sorting system of Through Several Survey Measure |
| CN106540887A (en) * | 2015-09-22 | 2017-03-29 | 徐州绿之源环境科技有限公司 | Building waste intelligent robot sorting system and method |
| CN106607925A (en) * | 2015-10-21 | 2017-05-03 | 于平 | Novel garbage disposal manipulator system and intelligent control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107262387A (en) | 2017-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107262387B (en) | Blocky solid construction waste sorting system based on multiple detection modes | |
| CN107362977B (en) | Automatic sorting line for decoration garbage | |
| CN104174631A (en) | Garbage sorting treatment process | |
| CN110394225B (en) | Brick-concrete separation comprehensive disposal process for construction waste | |
| CN107572850A (en) | A kind of preparation method of synthetic quartz slabstone quartz sand and silica flour | |
| CN103476515A (en) | Mechanized separation of mixed solid waste and recovery of recyclable products | |
| CN105127176A (en) | Building-rubbish resource treatment and use integrated treating method and treating system thereof | |
| CN111570471B (en) | Automatic treatment system for building decoration garbage and working method thereof | |
| CN108311519A (en) | A kind of decoration building waste sorting sorting technique and system | |
| CN203196722U (en) | Continuous scrap metal crushing and sorting complete equipment | |
| CN105478214A (en) | Construction waste integration and separation method | |
| CN103848584B (en) | A kind of construction refuse resource regenerative micro powder, fine sand process for combination producing method | |
| CN103785670A (en) | Method for harmless treatment of waste residue in paper making | |
| CN113000568A (en) | Garbage and decoration garbage coprocessing system tears open a house | |
| CN212682008U (en) | Construction waste classification retrieves machine | |
| CN111744941A (en) | Decoration garbage disposal method | |
| CN101259477A (en) | City garbage specification recovery processing device | |
| CN217616763U (en) | Demolition and construction and decoration garbage recycling device | |
| CN211134624U (en) | Processing system of fitment rubbish | |
| CN108745635A (en) | A kind of magnetic separation sorting equipment for after construction waste crushing | |
| CN112808427A (en) | Multistage classification treatment process for solid waste | |
| CN115846351A (en) | Intelligent classification harmless disposal method for construction and decoration wastes | |
| CN207592419U (en) | A kind of building waste specification processing system | |
| CN106426642A (en) | Near-infrared sorting device for waste household appliance dismantled and broken plastic | |
| CN211937169U (en) | Building waste treatment device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 362000 Fujian province Quanzhou Fengze District High-tech Industrial Park Sports Street No. 700 Applicant after: Fujian Nanfang pavement machinery Co., Ltd Address before: 362000 Fujian province Quanzhou Fengze District High-tech Industrial Park Sports Street No. 700 Applicant before: FUJIAN SOUTH HIGHWAY MACHINERY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |