CN118237282B

CN118237282B - Intelligent sorting system and method for industrial building solid waste

Info

Publication number: CN118237282B
Application number: CN202410682076.0A
Authority: CN
Inventors: 杨明
Original assignee: Beijing Dize Technology Co ltd
Current assignee: Beijing Dize Technology Co ltd
Priority date: 2024-05-29
Filing date: 2024-05-29
Publication date: 2024-07-19
Anticipated expiration: 2044-05-29
Also published as: CN118237282A

Abstract

The invention discloses an intelligent sorting system and a sorting method for solid wastes of an industrial building, which relate to the technical field of solid waste sorting and comprise a conveying device, wherein the conveying device comprises a main conveying machine and a waste conveyor, a conveying area of the main conveying machine is divided into a detection area and a sorting area, and a visual detection mechanism and a sorting mechanism are arranged on the conveying device; the visual detection mechanism and the sorting mechanism both comprise an arc track frame, the arc track frame spans over the main material conveying machine, the concave surface of the arc track frame is opposite to the material conveying area of the main material conveying machine, and the inner side of the arc track frame is provided with a moving seat which moves back and forth along an arc track; an industrial camera is arranged on the movable seat of the visual detection mechanism, and a lens of the industrial camera faces the detection area; the movable seat of the sorting mechanism is provided with a clamping jaw mechanism, the clamping jaw mechanism comprises a swinging frame hinged on the movable seat and swinging on the vertical surface, the outer end of the swinging frame is provided with a lifting seat, and the lifting end of the lifting seat is provided with a clamping jaw assembly; the invention improves the accuracy of clamping and the separation efficiency.

Description

Intelligent sorting system and method for industrial building solid waste

Technical Field

The invention relates to the technical field of solid waste separation, in particular to an intelligent separation system and a separation method for industrial building solid waste.

Background

The industrial building solid waste is solid waste (hereinafter referred to as solid waste) generated in the building construction process, and mainly comprises concrete, sand, bricks and the like, wherein the solid waste with various volumes is mixed together; in order to realize recycling of solid waste, large-volume waste materials such as brick blocks in the solid waste are required to be sorted out, and then are screened by a screening machine, so that the subsequent screening efficiency is improved, and classification recycling is realized.

The Chinese patent with publication number CN116944078A discloses a structure for identifying and sorting the miscellaneous materials in the solid waste of the building, wherein the mechanical arm is controlled by a camera matched with a controller to grasp the miscellaneous materials in the solid waste of the building, and the identification sensors in a plurality of mechanical arms are utilized to identify and grasp the miscellaneous materials in the miscellaneous material area, so that the sorting treatment is realized.

In this mode, the mode of pressing from both sides of manipulator is single, and waste material shape irregularity is strong, and single mode of pressing from both sides is unable to stabilize the clamping, takes off the material problem easily to appear.

Disclosure of Invention

The invention aims to provide an intelligent sorting system and method for industrial building solid wastes, and aims to solve the technical problem of poor precision and stability of clamping waste materials in the prior art.

In order to solve the technical problems, the technical scheme of the invention is as follows:

The intelligent sorting system for the solid waste of the industrial building comprises a material conveying device and a processor system, wherein one end of the material conveying device is provided with a material loading end, the other end of the material conveying device is provided with a material unloading end, the material conveying device comprises a main material conveying machine and waste material conveyors positioned on two sides of the main material conveying mechanism, a material conveying area of the main material conveying machine is divided into a detection area and a sorting area along a material conveying direction, and a visual detection mechanism and a sorting mechanism which move back and forth along the material conveying direction are arranged on the material conveying device; the visual detection mechanism and the sorting mechanism both comprise an arc track frame, the arc track frame spans over the main conveyor, the concave surface of the arc track frame is opposite to the conveying area of the main conveyor, the arc track frame of the visual detection mechanism and the arc track frame of the sorting mechanism are coaxially arranged, and a moving seat which moves back and forth along an arc track is arranged on the inner side of the arc track frame; the movable seat of the visual detection mechanism is provided with a mounting frame, the mounting frame is provided with an industrial camera, and a lens of the industrial camera faces downwards and is arranged opposite to the detection area; the movable seat of the sorting mechanism is provided with a clamping jaw mechanism for transferring the position between the sorting area and the waste conveyor, the clamping jaw mechanism comprises a swinging frame hinged on the movable seat and swinging on the vertical surface, the outer end of the swinging frame is provided with a lifting seat, and the lifting end of the lifting seat is provided with a clamping jaw assembly; the material conveying device, the visual detection mechanism and the sorting mechanism are all electrically connected to the processor system.

Wherein, the both sides rigid coupling of conveyer has the track board, and slidable mounting has the slide on the track board, is equipped with straight rack on the track board, installs first gear and the first actuating mechanism of drive first gear pivoted on the slide, and first gear meshes with straight rack mutually, and the both ends of circular arc track frame are installed respectively on the slide of conveyer bilateral symmetry.

Further, a horizontal sliding table is arranged between the two bottom ends of the circular arc track frame of the sorting mechanism and the corresponding sliding seat, the horizontal sliding table comprises a fixed seat, a translation seat moving along the width direction of the conveying device is arranged on the fixed seat, and a second driving mechanism for driving the corresponding translation seat to reciprocate is arranged on the fixed seat of one horizontal sliding table.

The inner side of the arc track frame is provided with an arc groove, the axial side wall of the arc groove is provided with a track groove, the radial inner wall of the track groove is provided with a toothed rail groove, and an arc toothed rail is adaptively arranged in the toothed rail groove; the rollers are arranged on two opposite sides of the movable seat, at least two rollers are arranged on the same side of the movable seat, the rollers are connected in the track groove in a rolling mode, a second gear and a third driving mechanism for driving the second gear to rotate are arranged on the top surface of the movable seat, and the second gear is meshed with the arc toothed rail.

The swing frame comprises a swing arm, the top end of the swing arm is hinged to a movable seat of the sorting mechanism, a third gear is fixedly connected to the top end of the swing arm, a first rack and a first electric push rod for driving the first rack to reciprocate are mounted on the movable seat of the sorting mechanism, and the third gear is meshed with the first rack; the lifting seat comprises a first mounting plate and a second mounting plate, the first mounting plate is fixedly connected to the bottom end of the swing arm, at least two second electric push rods are fixedly connected to the first mounting plate, and the shaft ends of the second electric push rods are fixedly connected to the second mounting plate.

The clamping jaw assembly comprises a mounting seat and clamping jaws, the mounting seat is fixedly connected to a second mounting plate, a sliding column and a third electric push rod for driving the sliding column to axially slide are mounted at the center of the mounting seat, a second rack is mounted on the side portion of the sliding column, a shaft body is fixedly connected to the top end of the clamping jaws, the shaft body is rotationally connected to the mounting seat, a fourth gear is coaxially fixedly connected to the shaft body, the fourth gear is meshed with the second rack, and at least three clamping jaws are arranged around the circumference of the sliding column.

Preferably, the side part of the sliding column is provided with a first sliding groove, the extending direction of the first sliding groove is consistent with the axial direction of the sliding column, the second rack is slidably connected in the first sliding groove, and a first spring is elastically supported between the two ends of the second rack and the end wall of the first sliding groove.

Further, the mounting seat comprises a fixed plate, a rotary column and a fourth driving mechanism, the fixed plate is fixedly connected with the second mounting plate, the rotary column is rotationally connected to the bottom surface of the fixed plate, and the axial direction of the rotary column is parallel to the axial direction of the sliding column; any clamping jaw corresponds to a rotary column, a connecting seat is fixedly connected to the bottom of the rotary column, a shaft body is rotationally connected to the connecting seat, the tooth surface of a fourth gear is a first arc surface, the circle center of the first arc surface is overlapped with the axial direction of the rotary column, the tooth surface of a second rack is a second arc surface, and the circle center of the second arc surface is overlapped with the axial direction of a sliding column; the bottom end of the clamping jaw is a clamping end, and a conical bulge is arranged on the side surface of the clamping end; the fourth driving mechanism comprises a toothed ring, the toothed ring is rotationally connected to a fixed plate, the toothed ring and the sliding column are coaxially arranged, a fifth gear is coaxially fixedly connected to the rotating column, the fifth gear is meshed with the inner teeth of the toothed ring, the fixed plate is provided with a sixth gear and a first motor for driving the sixth gear to rotate, and the sixth gear is meshed with the outer teeth of the toothed ring; and the bottom end of the sliding column is provided with a ranging sensor which is opposite to the clamping center of the clamping jaw assembly.

Preferably, the main conveyor is a belt conveyor, the waste conveyor is a chain plate conveyor, the belt conveyor comprises a frame, and a driving roller and a driven roller which are rotatably arranged on the frame, a plurality of first supporting rollers which are arranged side by side are arranged between the driving roller and the driven roller, and the driving roller is in transmission connection with the driven roller through a conveying belt; the chain plate conveyor comprises a driving sprocket coaxially fixedly connected with the driving roller and a driven sprocket coaxially fixedly connected with the driven roller, a plurality of second supporting rollers arranged side by side are arranged between the driving sprocket and the driven sprocket, the second supporting rollers are rotationally connected to the frame, the driving sprocket and the driven sprocket are in transmission connection through a chain plate belt, and the driving roller, the driven roller and the first supporting roller are concave rollers; the chain plate belt surrounds the periphery of the conveying belt, the side of the conveying belt is connected with movable joints, a plurality of movable joints are arranged at intervals along the extending direction of the conveying belt, and the other ends of the movable joints are connected to the chain plates of the chain plate belt on the same side; the movable joint comprises a first sliding rod and a second sliding rod which are arranged at intervals in parallel, wherein one end of the first sliding rod is fixedly connected with a first sliding block, the other end of the first sliding rod is fixedly connected with a first hook which is used for being hung on a chain plate, the first hook is hung on the chain plate, one end of the second sliding rod is fixedly connected with a second sliding block, the other end of the second sliding rod is fixedly connected with a second hook which is used for being hung on a conveying belt, the first sliding rod is slidably connected with the second sliding block, the first sliding rod is sleeved with a second spring which is elastically supported between the first sliding block and the second sliding block, the second sliding rod is connected with an adjusting nut in a threaded mode, and the adjusting nut is located between the first sliding block and the second sliding block.

A sorting method of an intelligent sorting system for industrial building solid wastes comprises the following steps:

the method comprises the following steps that firstly, a main material conveying machine continuously conveys solid waste, a visual detection mechanism continuously monitors the passing solid waste, when the waste in the solid waste is monitored, the waste is systematically marked, and the visual detection mechanism and the main material conveying machine move at the same speed and in the same direction;

secondly, the industrial camera moves along the arc track frame for one circle and continuously shoots, the shooting time interval is 0.5-1S, the processor system selects a photo with the smallest waste image area from the acquired image information, and the shooting angle of the photo is set to be the optimal clamping angle; meanwhile, the visual detection mechanism resets and moves, and solid waste is monitored in real time;

Thirdly, when the marked waste materials reach the position of the sorting mechanism, the sorting mechanism is started and moves in the same speed and direction as the main conveyor, the moving seat of the sorting mechanism moves to the corresponding optimal clamping angle, the swinging frame swings to be consistent with the radial direction of the circular arc track frame of the sorting mechanism, and the lifting seat drives the clamping jaw assembly to move towards the waste materials and clamp the waste materials;

Fourth, after clamping, the lifting seat is reset, the swing frame swings 30-45 degrees towards one side, the moving seat of the sorting mechanism moves towards the swing direction of the swing frame until the waste is moved to the upper part of the waste conveyor, and then the clamping jaw assembly releases the waste, so that the waste falls into the waste conveyor, and sorting operation is completed.

After the technical scheme is adopted, the invention has the beneficial effects that:

1. the invention can accurately clamp materials from a preset clamping angle, can be rapidly carried, and improves the clamping accuracy and the sorting efficiency;

2. the invention can still stably clamp irregular waste materials, and reduces the stripping risk.

Drawings

FIG. 1 is a schematic diagram of an embodiment of an intelligent sorting system for solid wastes in an industrial building;

FIG. 2 is a schematic diagram of the visual inspection mechanism of FIG. 1;

FIG. 3 is a schematic view of the sorting mechanism of FIG. 1;

FIG. 4 is a cross-sectional view showing the connection between the second arc frame and the second movable base in FIG. 3;

FIG. 5 is a schematic view of the jaw mechanism of FIG. 3;

FIG. 6 is a schematic view of the carriage of FIG. 3;

FIG. 7 is a schematic view of the sorting mechanism of FIG. 1 in a configuration for handling;

FIG. 8 is a schematic diagram of a carriage in a second embodiment of the intelligent sorting system for solid wastes in industrial buildings according to the present invention;

FIG. 9 is a partial cross-sectional view of a jaw mechanism in a third embodiment of the intelligent sorting system for solid wastes in industrial buildings of the invention;

FIG. 10 is a schematic structural view of a jaw mechanism in a fourth embodiment of the intelligent sorting system for solid wastes in industrial buildings of the invention;

FIG. 11 is a schematic view of the partial connection of FIG. 10;

FIG. 12 is a partial cross-sectional view of FIG. 10;

FIG. 13 is a cross-sectional view showing the connection of a main conveyor and a scrap conveyor in a fifth embodiment of the intelligent sorting system for solid wastes in industrial buildings according to the present invention;

FIG. 14 is a schematic view of the movable joint of FIG. 13;

In the figure, a main conveyor 1, a feeding end 10, a discharging end 11, a track plate 12, a belt conveyor 13, a frame 130, a first support roller 131, a conveyor belt 132, a movable joint 133, a first slide bar 134, a second slide bar 135, a first slide block 136, a first hook 137, a second slide block 138, a second hook 139, a second spring 140, an adjusting nut 141, a scrap conveyor 2, a link plate conveyor 20, a link plate belt 21, a second support roller 22, a visual inspection mechanism 3, a first arc frame 30, a first moving seat 31, a mounting frame 32, an industrial camera 33, a sorting mechanism 4, a second arc frame 40, an arc groove 400, a track groove 401, a rack groove 402, an arc rack 403, a second moving seat 41, a roller 410, a mounting block 411, a second gear 412, a third motor 413, the first rack 414, the first electric putter 415, the jaw mechanism 42, the swing frame 43, the swing arm 430, the third gear 431, the lifting base 44, the first mounting plate 440, the second mounting plate 441, the second electric putter 442, the jaw assembly 45, the mounting base 450, the jaw 451, the spool 452, the second rack 453, the fourth gear 454, the third electric putter 455, the first spring 456, the fixing plate 457, the rotating post 458, the gripping end 459, the tapered protrusion 460, the toothed ring 461, the inner tooth 462, the outer tooth 463, the limit wheel 464, the fifth gear 465, the sixth gear 466, the first motor 467, the distance sensor 468, the connection base 469, the slider 5, the guide wheel 50, the first gear 51, the second motor 52, the fixing base 60, the translation base 61, and the fourth electric putter 62.

Detailed Description

The invention is further elucidated below in conjunction with the accompanying drawings.

The orientations related to the specification are all based on the orientations of the industrial building solid waste intelligent sorting system and the sorting method during normal operation, are not limited to the orientations during storage and transportation, and only represent relative positional relationships and not absolute positional relationships.

Example 1

As shown in fig. 1 to 7 together, the intelligent sorting system for solid wastes of industrial buildings comprises a material conveying device, a visual detection mechanism 3, a sorting mechanism 4 and a processor system.

The starting position of feeding device along the direction of delivery is equipped with material loading end 10, extreme position is equipped with unloading end 11, feeding device includes main conveyer 1, waste material conveyer 2 is installed to main conveyer 1 both sides, waste material collection storehouse is connected to waste material conveyer 2's extreme position, main conveyer 1 is used for carrying solid useless in succession, waste material conveyer 2 is used for carrying the waste material of separating from solid useless, the regional anterior segment of material conveying of main conveyer 1 is the detection zone, the rear segment is the sorting district, the detection zone is close to material loading end 10, the sorting district is located between detection zone and the unloading end 11.

The visual detection mechanism 3 and the sorting mechanism 4 are mounted on the material conveying device and can move back and forth along the material conveying direction, wherein the visual detection mechanism 3 is arranged corresponding to the detection area, and the sorting mechanism 4 is arranged corresponding to the sorting area.

The visual detection mechanism 3 and the sorting mechanism 4 have the same partial structures, the same parts comprise arc track frames, the arc track frames transversely span the upper part of the main conveyor 1, the concave surfaces of the arc track frames are opposite to the conveying area of the main conveyor 1, the arc track frames of the visual detection mechanism 3 and the arc track frames of the sorting mechanism 4 are coaxial, a movable seat is arranged on one side of the concave surfaces of the arc track frames, and the movable seat can reciprocate along the arc track of the arc track frames; hereinafter, the circular arc rail frame of the vision detecting mechanism 3 is defined as a first circular arc frame 30, the moving seat to which the first circular arc frame 30 is connected is defined as a first moving seat 31, the circular arc rail frame of the sorting mechanism 4 is defined as a second circular arc frame 40, and the moving seat to which the second circular arc frame 40 is connected is defined as a second moving seat 41.

The vision detecting mechanism 3 is different from the sorting mechanism 4 in structure, in that a mounting frame 32 is mounted on the second movable seat 41, an industrial camera 33 is mounted on the mounting frame 32, and a lens of the industrial camera 33 faces to the center position of the first circular arc frame 30 and is arranged opposite to the detecting area; the second moving seat 41 is provided with a clamping jaw mechanism 42, and the clamping jaw mechanism 42 is used for sorting out the waste materials from the solid waste materials in the conveying state and then transferring the waste materials from the main conveyor 1 to the waste material conveyor 2 for sorting.

The jaw mechanism 42 includes a swing frame 43, a lifting base 44, and a jaw assembly 45, the swing frame 43 is hinged on the moving base, so that the swing frame 43 can swing reciprocally on a vertical plane, the lifting base 44 is fixed on an outer end of the swing frame 43, the jaw assembly 45 is used for clamping waste, and the jaw assembly 45 is mounted on a lifting end of the lifting base 44. So that the jaw mechanism 42 can move along the circular arc rail frame and can swing, lift and clamp.

The processor system provides electric control for the whole device, and the hardware comprises a processor, and the main conveyor 1, the visual detection mechanism 3 and the sorting mechanism 4 are all electrically connected with the processor.

When the automatic sorting device is used, the visual detection mechanism 3 is positioned at the initial position of the detection area, the sorting mechanism 4 is positioned at the initial position of the sorting area, solid waste is led into the main conveyor 1 from the feeding end 10, when the waste in the solid waste passes through the visual detection mechanism 3, the industrial camera 33 detects the waste and marks the waste, then the industrial camera 33 moves along the circular arc track frame for one circle in the synchronous moving process along with the same direction and same speed of the waste, continuous photographing is carried out, after photographing is finished, the visual detection mechanism 3 is reset, and after photographing, the industrial camera 33 transmits image information to the processor, so that the optimal gripping angle is judged;

The sorting mechanism 4 stays in advance in the starting position of the sorting area, in which the length direction of the oscillating frame 43 coincides with the direction of movement of the lifting seat 44 and both coincide with the radial direction of the second circular arc frame 40, since the conveying speed of the main conveyor 1 is fixed, the marked scrap will reach the starting position of the sorting area in a fixed time,

After the waste material reaches the initial position of the sorting area, the sorting mechanism 4 synchronously moves in the same direction, the second moving seat 41 rapidly moves to a preset optimal clamping angle, then the lifting seat 44 drives the clamping jaw assembly 45 to move along the radial direction of the angle, then the clamping jaw assembly 45 clamps the waste material, after clamping, the lifting seat 44 resets, the second moving seat 41 moves towards the end part of the corresponding circular arc track frame, meanwhile, the swinging frame 43 swings towards the end part, when the clamped waste material reaches the upper part of the waste material conveyor 2, then the clamping jaw assembly 45 is opened, and the waste material is put into the waste material conveyor 2, so that the waste material is carried.

In the whole process, the device can quickly position the waste materials in the solid waste, then accurately clamp and separate the waste materials, clamp and separate the waste materials stably, and has high sorting efficiency.

The two sides of the frame body of the material conveying device are fixedly connected with rail plates 12, the length direction of the rail plates 12 is consistent with the length direction of the material conveying device, and sliding seats 5 are slidably arranged on the rail plates 12 at the two sides; the outer side of the track plate 12 is provided with a straight toothed rail, the slide seat 5 is provided with a guide wheel 50, the guide wheel 50 rolls and presses against the top surface of the track plate 12, the bottom surface of the track plate 12 is provided with a linear guide rail, a slide block of the linear guide rail is fixed on the slide seat 5, the slide seat 5 is provided with a first gear 51 which horizontally rotates, the first driving mechanism is preferably provided with a second motor 52, the second motor 52 is fixed on the slide seat 5, a motor shaft of the second motor 52 is fixedly connected with the first gear 51 coaxially, the first gear 51 is driven to rotate through the second motor 52, and the movement of the slide seat 5 is realized under the transmission of the first gear 51 and the straight toothed rail.

The two bottom ends of each arc track frame are fixed on the corresponding sliding seat 5. When the slide bases 5 which are symmetrical on two sides synchronously move, the arc track frames are driven to synchronously move.

Preferably, the inner sides of the first arc frame 30 and the second arc frame 40 are respectively provided with an arc groove 400, the axial side wall of the arc groove 400 is provided with a track groove 401, the radial inner wall of the track groove 401 is provided with a rack groove 402, and the rack groove 402 is internally provided with an arc rack 403 in a matching way, wherein the extending directions of the arc groove 400, the track groove 401, the rack groove 402 and the arc rack 403 are consistent.

The rollers 410 are installed on two side surfaces of the first moving seat 31 and the second moving seat 41, the two rollers 410 are installed on the left side surface, the two rollers 410 are installed on the right side surface, the two rollers 410 on the same side are all in rolling connection in the corresponding track grooves 401, namely, the two rollers 410 on the same side are arranged at intervals around the circle center of the circular arc track frame.

The top surfaces of the first movable seat 31 and the second movable seat 41 are respectively provided with a mounting block 411, a rotating shaft is rotatably connected to the mounting blocks 411, two ends of the rotating shaft are coaxially and fixedly connected with second gears 412, and the second gears 412 are meshed with the arc toothed rails 403. The third driving mechanism comprises a third motor 413, the third motor 413 is fixed on the movable seat, and a motor shaft of the third motor 413 is in transmission connection with the rotating shaft through a gear assembly. The second gear 412 is driven to rotate by the third motor 413, and the movable seat is driven by the first gear 51 and the arc toothed rail 403 to reciprocate along the arc track frame under the guidance of the roller 410.

Preferably, the swinging frame 43 includes a swinging arm 430, a fixed shaft is fixedly connected to the top end of the swinging arm 430, the fixed shaft is rotatably connected to the second moving seat 41, a third gear 431 is coaxially fixedly connected to the fixed shaft, a second sliding groove is disposed on the bottom surface of the second moving seat 41, a first rack 414 is slidably connected to the second sliding groove, and a tooth surface of the first rack 414 faces downward and is meshed with the third gear 431.

The first electric push rod 415 is fixedly connected to the moving seat, a motor shaft of the first electric push rod 415 is coaxially fixedly connected with the first rack 414, and the first rack 414 is driven to slide by the first electric push rod 415, so that the third gear 431 is driven to rotate, and the swinging function of the swinging arm 430 is realized.

The lifting seat 44 comprises a first mounting plate 440 and a second mounting plate 441, the first mounting plate 440 is fixedly connected to the bottom end of the swing arm 430, two second electric push rods 442 are fixedly connected to the first mounting plate 440, the shaft ends of the second electric push rods 442 are fixedly connected to the second mounting plate 441, and the distance between the first mounting plate 440 and the second mounting plate 441 is synchronously adjusted through the two second electric push rods 442, so that the lifting function of the lifting seat 44 is realized.

Preferably, the clamping jaw assembly 45 comprises a mounting seat 450 and a clamping jaw 451, wherein the mounting seat 450 is fixed on the bottom surface of the second mounting plate 441 through a connecting rod, a sliding hole is formed in the center of the mounting seat 450, a sliding column 452 is coaxially and slidably connected in the sliding hole, a third electric push rod 455 is fixed on the top surface of the mounting seat 450, a rod end of the third electric push rod 455 is fixedly connected with the sliding column 452 in a coaxial manner, and the sliding column 452 is driven to slide reciprocally through the third electric push rod 455.

The side of the sliding column 452 is fixedly provided with a second rack 453, the top end of the clamping jaw 451 is fixedly connected with a shaft body, the shaft body is rotationally connected to the side of the mounting seat 450, the shaft body is coaxially fixedly connected with a fourth gear 454, the fourth gear 454 is meshed with the second rack 453, the clamping jaw 451 is at least three, in this embodiment, the clamping jaw 451 is provided with four clamping jaws 451 which are arranged around the circumference of the sliding column 452.

The sliding column 452 is driven to move upwards by the third electric push rod 455, and under the transmission of the fourth gear 454 and the second rack 453, the four clamping jaws 451 swing towards the same central point synchronously, so that clamping action is realized; conversely, when the third electric push rod 455 drives the sliding column 452 to move downward, the clamping jaw 451 is driven to move away from the central point, so as to realize the opening action of the clamping jaw 451.

Example two

The difference between this embodiment and the first embodiment is that, as shown in fig. 8, a horizontal sliding table is installed between two bottom ends of the second arc frame 40 and the corresponding sliding seat 5, the horizontal sliding table includes a fixed seat 60 and a translation seat 61, the translation seat 61 is installed on the fixed seat 60 through a guide rail, a second driving mechanism is installed on the fixed seat 60 of one horizontal sliding table, the second driving mechanism is a fourth electric push rod 62, the main body of the fourth electric push rod 62 is fixed on the fixed seat 60, the rod end of the fourth electric push rod 62 is fixedly connected with the translation seat 61, and the translation seat 61 is driven to move along the width direction of the conveying device through the fourth electric push rod 62.

The tip of second circular arc frame 40 is fixed on translation seat 61, fourth electric putter 62 drive translation seat 61 removes, thereby drive second circular arc frame 40 left and right sides and remove, after clamping jaw subassembly 45 presss from both sides the waste material, lifting seat 44 resets, swing arm 430 side pendulum certain angle, second removes seat 41 and moves towards swing arm 430 wobbling direction, simultaneously fourth electric putter 62 drive translation seat 61 translates certain distance towards swing arm 430 wobbling direction, realize the removal of the left and right sides position of whole second circular arc frame 40, thereby make clamping jaw subassembly 45 quick travel to waste material conveyer 2's position department, the handling time after the waste material clamp has been shortened, sorting efficiency has been improved.

Example III

The difference between this embodiment and the first embodiment is that, as shown in fig. 9, the second rack 453 is elastically slidably connected with the sliding column 452, specifically, a first sliding groove is provided at a side portion of the sliding column 452, the first sliding groove is preferably a T-shaped groove, an extending direction of the first sliding groove is consistent with an axial direction of the sliding column 452, a tooth surface is provided at an outer side of the second rack 453, a T-shaped block is provided at an inner side of the second rack 453, the T-shaped block is adapted to be connected in the T-shaped groove, so that the second rack 453 can slide along the first sliding groove, and a first spring 456 is provided between two ends of the second rack 453 and inner walls of two ends of the first sliding groove, in this embodiment, the spring is a mechanical spring or a gas spring.

The sliding column 452 moves upwards to drive the four clamping jaws 451 to swing synchronously and oppositely, when irregular waste materials are faced, the four clamping jaws 451 gradually press against the outer sides of the corresponding waste materials, the four clamping jaws 451 are respectively defined as a first clamping jaw 451, a second clamping jaw 451, a third clamping jaw 451 and a fourth clamping jaw 451, if the first clamping jaw 451 is pressed against the outer sides of the corresponding waste materials, the rest clamping jaws 451 are not pressed against the outer sides, and as the sliding column 452 moves upwards, the first clamping jaw 451 is fixed in position, the second rack 453 connected with the first clamping jaw 451 slides relative to the sliding column 452, so that the clamping of the rest clamping jaws 451 is adapted, the problem that all the four clamping jaws 451 cannot be clamped in place accurately is solved, the waste material clamping is more stable, and the risk of stripping in the irregular waste material clamping process is reduced.

Example IV

The difference between this embodiment and the first embodiment is that, as shown in fig. 10 to 12, the mounting base 450 includes a fixing plate 457, a rotating post 458 and a fourth driving mechanism, the fixing plate 457 is fixedly connected to the bottom surface of the second mounting plate 441, the rotating post 458 is rotatably connected to the bottom surface of the fixing plate 457, and the axial direction of the rotating post 458 is parallel to the axial direction of the sliding post 452.

Each clamping jaw 451 corresponds to one rotary column 458, a connecting seat 469 is fixedly connected to the bottom of the rotary column 458, the shaft body is rotationally connected to the connecting seat 469, the tooth surface of the fourth gear 454 is a first arc surface, the circle center of the first arc surface is overlapped with the axial direction of the rotary column 458, the tooth surface of the second rack 453 is a second arc surface, and the circle center of the second arc surface is overlapped with the axial direction of the sliding column 452, so that the fourth gear 454 is meshed with the second rack 453 in a tangential mode; the clamping jaw 451 is concave structure, and the concave surface of clamping jaw 451 is towards pressing from both sides center, and clamping jaw 451's bottom is for pressing from both sides and getting end 459, and clamping end 459's front side and concave surface are the region as an organic whole, and clamping end 459 left and right direction corresponds the side and all is equipped with toper arch 460.

The fourth actuating mechanism includes ring gear 461, ring gear 461 inboard is equipped with four sections internal teeth 462, the outside is equipped with one section external tooth 463, ring gear 461 passes through spacing wheel 464 or thrust bearing and rotates the bottom surface of being connected in fixed plate 457, ring gear 461 and the coaxial setting of traveller 452, the coaxial rigid coupling of column 458 has fifth gear 465, fifth gear 465 meshes with internal teeth 462, sixth gear 466 is installed to fixed plate 457 bottom surface, first motor 467 is installed to fixed plate 457 top surface, the coaxial rigid coupling of motor shaft and sixth gear 466 of first motor 467, sixth gear 466 meshes with external tooth 463.

The slide column 452 bottom is equipped with the mounting hole, installs range finding sensor 468 in the mounting hole, and range finding sensor 468's detection port is down, just to clamping jaw 451 centre of gripping.

During the use, in the initial state, the concave surface of four clamping jaw 451 is just to pressing from both sides center, four clamping jaw 451 presss from both sides the waste material in step, then separate the waste material from solid useless, and carry to waste material conveyer 2, in this process, when lifting seat 44 begins to reset, range finding sensor 468 begins to detect the distance, and in the follow-up in-process, range finding sensor 468 once detected the distance appears the deviation, prove that waste material presss from both sides the in-process and become flexible, at this moment, first motor 467 drive ring 461 rotates, thereby drive four column of revolution 458 rotate, realize four clamping jaw 451 rotations, the toper protruding 460 of clamping end 459 side can swing thereupon, and imbed the waste material surface, realize secondary locking waste material, further improved the stability that the waste material was pressed from both sides.

Example five

The difference between this embodiment and the first embodiment is that, as shown in fig. 13 and 14, the main conveyor 1 is a belt conveyor 13, the waste conveyor 2 is a chain conveyor 20, two chain conveyors are symmetrically disposed on two sides of the belt conveyor, the conveying direction of the chain conveyors is consistent with that of the belt conveyor, the belt conveyor is used for conveying solid waste, and the chain conveyor 20 is used for conveying sorted waste.

The belt conveying device comprises a driving roller and a driven roller which are rotatably arranged on a rack 130, and a plurality of first supporting rollers 131 which are arranged side by side and are positioned between the driving roller and the driven roller, wherein the driving roller, the driven roller and the plurality of first supporting rollers 131 are all arranged in parallel, the driving roller and the driven roller are in transmission connection through a conveying belt 132, the conveying belt 132 is tensioned through the driving roller and the driven roller, the transmission function is realized, the first supporting rollers 131 are supported on the inner side of the conveying belt 132, and the conveying belt 132 is prevented from sinking after being subjected to the pressure of materials.

The chain plate conveying device comprises a driving chain wheel, a driven chain wheel and a plurality of second supporting rollers 22, wherein the driving chain wheel is in transmission connection with the driven chain wheel through a chain plate belt 21, the plurality of second supporting rollers 22 are arranged between the driving chain wheel and the driven chain wheel at intervals side by side, the second supporting rollers 22 are supported on the inner side of the chain plate belt 21, and the chain plate belt 21 is prevented from sinking after being subjected to the pressure of materials. The driving chain wheel is coaxially fixed on the shaft of the driving roller, the driven chain wheel is fixed on the shaft of the driven roller, and the driving roller and the driving chain wheel are driven by the power assembly to synchronously rotate, so that synchronous conveying of the belt conveying device and the two chain plate conveying devices is realized.

Further, the first support roller 131 and the second support roller 22 share the same connecting shaft, the connecting shaft is fixed on the frame 130, and the roller bodies of the first support roller 131 and the second support roller 22 are both rotatably connected on the connecting shaft, so that the processing and installation costs of the first support roller 131 and the second support roller 22 are reduced, and the independent supporting functions of the first support roller 131 and the second support roller 22 are ensured.

Further, the surfaces of the driving roller, the driven roller and the first supporting roller 131 are provided with annular grooves, and an arc surface is arranged between the bottom surface and the side surface of the annular groove, so that the conveying belt 132 can be accommodated in the annular groove, and the conveying belt 132 for carrying materials forms a groove shape, so that the materials can be prevented from being separated from the conveying belt 132 in the conveying process.

Further, the link plate belt 21 surrounds the periphery of the conveying belt 132, that is, the top surface of the link plate belt 21 is higher than the top surface of the conveying belt 132, the bottom surface of the link plate belt 21 is lower than the bottom surface of the conveying belt 132, the side of the conveying belt 132 is connected with movable joints 133, the movable joints 133 are arranged at intervals along the extending direction of the conveying belt 132, and the other ends of the movable joints 133 are connected to the link plates of the link plate belt 21 on the same side.

Through the tensioning function of movable joint 133 for the belt conveyor 13 carries solid useless in-process, and conveyer belt 132 is difficult to warp because of factors such as vibration, guarantees the stability that solid useless was carried, makes the waste material in the solid useless can not appear great position offset in the transportation process, guarantees behind visual detection mechanism 3 detects, and sorting mechanism 4 can accurate counterpoint clamp, has improved the accuracy nature of sorting.

Preferably, the movable joint 133 comprises a first slide bar 134 and a second slide bar 135 which are arranged at intervals in parallel, one end of the first slide bar 134 is fixedly connected with a first slide block 136, the other end of the first slide bar 134 is fixedly connected with a first hook 137, the first hook 137 is hung on a lock catch of the chain plate, one end of the second slide bar 135 is fixedly connected with a second slide block 138, the other end of the second slide bar is fixedly connected with a second hook 139, and the second hook 139 is hung on the hanging ring. The first sliding block 136 is provided with a first sliding hole, the second sliding block 135 is connected in the first sliding hole, the second sliding block 138 is provided with a second sliding hole, the first sliding block 134 is connected in the second sliding hole, the first sliding block 134 is sleeved with a second spring, the second spring is elastically supported between the first sliding block 136 and the second sliding block 138, the second sliding block 135 is provided with a limiting block, and the limiting block is positioned between the first sliding block 136 and the second sliding block 138. The first sliding rod 134 and the second sliding rod 135 can slide relatively, so that the movable joint 133 can stretch for a certain distance and can also reset elastically, and the upper limit and the lower limit of the telescopic distance of the movable joint 133 are limited by the limiting block. Under the elastic action of the second spring, the conveyor belt 132 and the chain plate belt 21 can be tensioned, and particularly, when the conveyor belt 132 and the chain plate belt 21 move in the direction changing manner at the end part, the conveyor belt 132 and the chain plate belt 21 still maintain effective synchronism, so that the damage of components caused by the deviation of the connecting positions of the conveyor belt 132 and the chain plate belt 21 is avoided. And the first hook 137 and the second hook 139 are used for connection, so that the movable joint 133 is convenient to assemble and disassemble.

The limiting block is an adjusting nut 141, a threaded section is arranged on the second sliding rod 135, and the adjusting nut 141 is in threaded connection with the threaded section. By rotating the adjusting nut 141, the position of the adjusting nut 141 on the second sliding rod 135 can be adjusted, thereby adjusting the upper and lower limits of the telescopic distance of the movable joint 133.

The method comprises the steps that firstly, a main conveyor 1 continuously conveys solid wastes, the maximum thickness of the conveyed solid wastes is not more than 0.4m, a visual detection mechanism 3 continuously monitors the passing solid wastes, when the waste materials in the solid wastes are monitored, the waste materials are marked systematically, and the visual detection mechanism 3 and the main conveyor 1 move at the same speed and in the same direction;

Secondly, the industrial camera 33 moves along the arc track frame for one circle and continuously shoots, the shooting time interval is 0.5-1S, the processor system selects a photo with the smallest waste image area occupation ratio from the acquired image information, and the shooting angle of the photo is set to be the optimal clamping angle; meanwhile, the visual detection mechanism 3 resets and moves, and the subsequent solid waste is monitored in real time;

Third, when the marked waste reaches the position of the sorting mechanism 4, the sorting mechanism 4 is started and moves in the same speed and direction as the main conveyor 1, the second moving seat 41 moves to the corresponding optimal clamping angle, the swinging frame 43 swings to be consistent with the radial direction of the second circular arc frame 40, the lifting seat 44 drives the clamping jaw assembly 45 to move towards the waste, and then the waste is clamped;

Fourth, after the clamping is completed, the lifting seat 44 is reset, the swinging frame 43 swings 30-45 degrees towards one side, the second moving seat 41 moves towards the swinging direction of the swinging frame 43 until the waste is moved to the upper side of the waste conveyor 2, and then the clamping jaw assembly 45 releases the waste, so that the waste falls into the waste conveyor 2, and the sorting function is realized.

The present invention is not limited to the above-described specific embodiments, and various modifications may be made by those skilled in the art without inventive effort from the above-described concepts, and are within the scope of the present invention.

Claims

1. The intelligent sorting system for the solid waste of the industrial building comprises a material conveying device and a processor system, wherein one end of the material conveying device is provided with a material loading end, the other end is provided with a material discharging end,

The material conveying device comprises a main material conveying machine and waste material conveyors positioned at two sides of the main material conveying mechanism, wherein a material conveying area of the main material conveying machine is divided into a detection area and a sorting area along a material conveying direction, and a visual detection mechanism and a sorting mechanism which move back and forth along the material conveying direction are arranged on the material conveying device;

The visual detection mechanism and the sorting mechanism both comprise an arc track frame, the arc track frame spans over the main conveyor, the concave surface of the arc track frame is opposite to the conveying area of the main conveyor, the arc track frame of the visual detection mechanism and the arc track frame of the sorting mechanism are coaxially arranged, and a moving seat which moves reciprocally along an arc track is arranged on the inner side of the arc track frame;

The movable seat of the visual detection mechanism is provided with a mounting frame, the mounting frame is provided with an industrial camera, and the lens of the industrial camera faces downwards and is arranged opposite to the detection area;

The movable seat of the sorting mechanism is provided with a clamping jaw mechanism for transferring the position between the sorting area and the waste conveyor, the clamping jaw mechanism comprises a swinging frame hinged on the movable seat and swinging on the vertical surface, the outer end of the swinging frame is provided with a lifting seat, and the lifting end of the lifting seat is provided with a clamping jaw assembly;

the material conveying device, the visual detection mechanism and the sorting mechanism are all electrically connected to the processor system.

2. The intelligent sorting system for industrial building solid wastes according to claim 1, wherein the two sides of the material conveying device are fixedly connected with rail plates, sliding seats are slidably arranged on the rail plates, straight toothed rails are arranged on the rail plates, a first gear and a first driving mechanism for driving the first gear to rotate are arranged on the sliding seats, the first gear is meshed with the straight toothed rails, and the two bottom ends of the circular arc rail frames are respectively arranged on the sliding seats which are symmetrical on the two sides of the material conveying device.

3. The intelligent sorting system for solid wastes in industrial buildings according to claim 2, wherein a horizontal sliding table is arranged between the two bottom ends of the circular arc track frame of the sorting mechanism and the corresponding sliding seat, the horizontal sliding table comprises a fixed seat, a translation seat moving along the width direction of the conveying device is arranged on the fixed seat, and a second driving mechanism for driving the corresponding translation seat to reciprocate is arranged on the fixed seat of one horizontal sliding table.

4. The intelligent sorting system for industrial building solid wastes according to claim 1, wherein an arc-shaped groove is arranged on the inner side of the arc-shaped track frame, a track groove is arranged on the axial side wall of the arc-shaped groove, a rack rail groove is arranged on the radial inner wall of the track groove, and an arc-shaped rack rail is adaptively arranged in the rack rail groove;

The roller wheels are arranged on two opposite sides of the movable seat, at least two roller wheels on the same side are arranged, the roller wheels are connected in the track groove in a rolling mode, a second gear and a third driving mechanism for driving the second gear to rotate are arranged on the top surface of the movable seat, and the second gear is meshed with the arc toothed rail.

5. The intelligent sorting system for industrial building solid wastes according to claim 1, wherein the swinging frame comprises a swinging arm, the top end of the swinging arm is hinged to a movable seat of the sorting mechanism, a third gear is fixedly connected to the top end of the swinging arm, a first rack and a first electric push rod for driving the first rack to reciprocate are mounted on the movable seat of the sorting mechanism, and the third gear is meshed with the first rack;

The lifting seat comprises a first mounting plate and a second mounting plate, wherein the first mounting plate is fixedly connected to the bottom end of the swing arm, at least two second electric push rods are fixedly connected to the first mounting plate, and the shaft ends of the second electric push rods are fixedly connected to the second mounting plate.

6. The intelligent sorting system for industrial building solid wastes according to claim 5, wherein the clamping jaw assembly comprises a mounting seat and clamping jaws, the mounting seat is fixedly connected with a second mounting plate, a sliding column and a third electric push rod for driving the sliding column to axially slide are arranged in the center of the mounting seat, a second rack is arranged on the side part of the sliding column, a shaft body is fixedly connected to the top end of the clamping jaws, the shaft body is rotatably connected to the mounting seat, a fourth gear is coaxially and fixedly connected to the shaft body, the fourth gear is meshed with the second rack, at least three clamping jaws are arranged around the circumference of the sliding column.

7. The intelligent sorting system for solid wastes in industrial building according to claim 6, wherein the side part of the sliding column is provided with a first sliding groove, the extending direction of the first sliding groove is consistent with the axial direction of the sliding column, the second rack is slidably connected in the first sliding groove, and a first spring is elastically supported between two ends of the second rack and the end wall of the first sliding groove.

8. The intelligent sorting system for industrial building solid wastes according to claim 6, wherein the mounting seat comprises a fixed plate, a rotary column and a fourth driving mechanism, the fixed plate is fixedly connected with the second mounting plate, the rotary column is rotatably connected to the bottom surface of the fixed plate, and the axial direction of the rotary column is parallel to the axial direction of the sliding column;

Any clamping jaw corresponds to a rotary column, a connecting seat is fixedly connected to the bottom of the rotary column, the shaft body is rotationally connected to the connecting seat, the tooth surface of the fourth gear is a first arc surface, the circle center of the first arc surface is overlapped with the axial direction of the rotary column, the tooth surface of the second rack is a second arc surface, and the circle center of the second arc surface is overlapped with the axial direction of the sliding column;

the bottom end of the clamping jaw is a clamping end, and a conical bulge is arranged on the side surface of the clamping end;

The fourth driving mechanism comprises a toothed ring, the toothed ring is rotationally connected to a fixed plate, the toothed ring and the sliding column are coaxially arranged, a fifth gear is coaxially fixedly connected to the rotating column, the fifth gear is meshed with the inner teeth of the toothed ring, the fixed plate is provided with a sixth gear and a first motor for driving the sixth gear to rotate, and the sixth gear is meshed with the outer teeth of the toothed ring;

And a ranging sensor opposite to the clamping center of the clamping jaw assembly is arranged at the bottom end of the sliding column.

9. The intelligent sorting system for solid wastes of industrial buildings according to claim 1, wherein the main material conveying machine is a belt conveyor, the waste material conveying machine is a chain plate conveyor, the belt conveyor comprises a frame, and a driving roller and a driven roller rotatably arranged on the frame, a plurality of first supporting rollers are arranged between the driving roller and the driven roller side by side, and the driving roller and the driven roller are in transmission connection through a conveying belt;

The chain plate conveyor comprises a driving sprocket coaxially fixedly connected with a driving roller and a driven sprocket coaxially fixedly connected with a driven roller, a plurality of second supporting rollers arranged side by side are arranged between the driving sprocket and the driven sprocket, the second supporting rollers are rotationally connected to the frame, the driving sprocket and the driven sprocket are in transmission connection through a chain plate belt, and the driving roller, the driven roller and the first supporting roller are concave rollers;

The chain plate belt surrounds the periphery of the conveying belt, the side of the conveying belt is connected with movable joints, a plurality of movable joints are arranged at intervals along the extending direction of the conveying belt, and the other ends of the movable joints are connected to the chain plates of the chain plate belt on the same side;

The movable joint comprises a first sliding rod and a second sliding rod which are arranged at intervals in parallel, wherein one end of the first sliding rod is fixedly connected with a first sliding block, the other end of the first sliding rod is fixedly connected with a first hook which is used for being hung on a chain plate, the first hook is hung on the chain plate, one end of the second sliding rod is fixedly connected with a second sliding block, the other end of the second sliding rod is fixedly connected with a second hook which is used for being hung on a conveying belt, the first sliding rod is slidably connected on the second sliding block, a second spring which is elastically supported between the first sliding block and the second sliding block is sleeved on the first sliding rod, an adjusting nut is connected on the second sliding rod in a threaded mode, and the adjusting nut is located between the first sliding block and the second sliding block.

10. The method for separating the industrial building solid waste intelligent separation system according to claim 1, which is characterized by comprising the following steps: