CN208800416U - A kind of sorting equipment of building waste material - Google Patents
A kind of sorting equipment of building waste material Download PDFInfo
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- CN208800416U CN208800416U CN201821090148.9U CN201821090148U CN208800416U CN 208800416 U CN208800416 U CN 208800416U CN 201821090148 U CN201821090148 U CN 201821090148U CN 208800416 U CN208800416 U CN 208800416U
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- slide unit
- mcu controller
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Abstract
The utility model discloses a kind of sorting equipments of building waste material, belt conveyer including transported material, it further include the slide unit mould group being set up in above the active section of the conveyer belt of belt conveyer, for grabbing the manipulator of material, it is respectively arranged at the classification box for being used to place different type material outside active section two sides, and detection identification device, data collecting card, motion control card and MCU controller；MCU controller is used to receive the data of detection identification device detection and is handled, the density of material is calculated according to the result of processing, and it is compared with the density range in it, judge the affiliated type of this material, and controls motion control card motion and enable manipulator that this material is thrown in corresponding classification box.Material type is identified by the density of material, greatly reduces the error rate of material type identification.
Description
Technical field
The utility model relates to environment protection fields, more specifically to a kind of sorting equipment of building waste material.
Background technique
Building waste refers to the solid waste generated in process of construction or in old building maintenance and demolishing process, packet
Include the waste materials such as soil, stone, concrete block, brickbat, timber, metal, pipeline and electric appliance.With the development of China's urban construction,
Building waste processing has formed severe environment difficulties, and how to enable minimizing, recycling and the money of building waste mixture
Source has become society and needs the project studied and solved.
It regenerates, and is building currently, discarded concrete, the brickbat etc. in building waste are efficiently used and are used for aggregate by someone
In building refuse recycled aggregate, the separation of light materials is to influence the key factor of construction refuse regenerated aggregate quality in building waste.
At present to the sorting of building waste frequently with the method for manual sorting, wet concentration and wind, still, there are low efficiencys by manual sorting
Under, and due to the rise of cost of labor instantly, the higher cost of manual sorting；Wet cleaning process waste water resource, causes water pollution
Problem, also, do not meet the requirement of the resource-effective annular friendly society strategy of national development；Pneumatic concentration belong to more environmental protection,
Lower-cost method, but there is weight substances to mix, it is difficult to efficiently separate clean problem.
Utility model content
The purpose of the utility model is to provide a kind of sorting equipments of building waste material, can accurately sort building
Rubbish material.
In order to achieve the above objectives, the solution of the utility model is:
A kind of sorting equipment of building waste material, the belt conveyer including transported material, with belt transmission
One section of the conveyer belt transmission building waste material of device is active section, and sorting equipment further includes being set up in the belt transmission dress
Slide unit mould group above the active section for the conveyer belt set is respectively arranged at the active section two for grabbing the manipulator of material
It is used to place the classification box of different type material outside side, detects identification device, data collecting card, motion control card and MCU control
Device；The classification box is in the range of the slide unit mould group；
The slide unit mould group includes two X-axis slide units, Y-axis slide unit and Z axis slide unit, and the two X-axis slide units, the Y-axis are sliding
Platform and the Z axis slide unit constitute planer-type slide unit mould group, and the manipulator is pacified in a manner of rotating about the z axis a rotating mechanism
Loaded on the Z axis slide unit；The detection identification device includes being connected with the belt conveyer, for detecting conveyer belt
The encoder of speed is set up in above the active section, the laser range sensor for detecting height of materials, is installed on described
Weight sensor at manipulator, for detecting the manipulator crawl corresponding material weight, and be set up on the active section
Side, the industrial camera for shooting picture；The output end of the encoder, the output end of the laser range sensor and described
The output end of weight sensor is separately connected the input terminal of the data collecting card, and the output end of the data collecting card connects institute
The respective input of MCU controller is stated, the output end of the industrial camera connects the respective input of the MCU controller, institute
The corresponding output end for stating MCU controller connects the input terminal of the motion control card, the output end difference of the motion control card
It is correspondingly connected with the X-axis motor of X-axis slide unit, the rotation of the y-axis motor of Y-axis slide unit, the Z axis motor of Z axis slide unit and the rotating mechanism
Rotating motor；
The MCU controller is used to receive the picture of the industrial camera acquisition and is handled, and receives the data and adopts
The data of truck acquisition calculate the density of the material of the manipulator crawl according to the result of processing and received data, and
It is compared with the density range of the different type material prestored, judges the affiliated type of this material, and control motion control card motion
Enable the manipulator that this material is thrown in corresponding classification box.
The image processing unit that there is the MCU controller picture for transmitting to the industrial camera to be handled,
Described image processor unit calculates material contour area, and in conjunction with the conveyer belt to obtain material center position
Speed calculates the position of material to be grabbed.
It is preset in the MCU controller and the one-to-one matched density range of material type and phase in corresponding classification box
Answer the position coordinates of the classification box.
The corresponding output end of the MCU controller connects the driving motor of the conveyer belt.
After sorting equipment using above-mentioned building waste material, the utility model has the following beneficial effects: this is practical new
Type is obtained speed, the height of material and the picture of conveyer belt first, is controlled by MCU by detection identification device real-time detection
The analysis of device calculates, and obtains the center of material, the contour area of material and material position to be captured, then movement control
Fabrication according to the corresponding motor of material position control slide unit mould group to be captured act, thus make manipulator relative to active section before
Afterwards, it up and down and/or moves left and right, so that manipulator is moved to material position to be captured and accurately grab material, then data acquire
The data of card acquisition weight sensor detection, i.e. the weight of material, MCU controller according to the weight of material, the height of material and
The contour area of material calculates the density of material, then by the comparison of the density range of different material type, so that it is determined that
The material type, completes the identification of material, and then according to the position coordinates of the launched classification box of the material, MCU controller is issued
Control instruction controls motion control card accordingly slide unit mould group, thus enable manipulator be moved at corresponding classification box into
Row is launched, and compared with prior art, is identified by the density of material to material type, is greatly reduced material type identification
Error rate, meanwhile, material is sorted using the combination of manipulator and slide unit mould group, environmentally protective, cost of labor is low, and
Improve the accuracy rate of sorting.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is circuit connection diagram in the utility model.
Fig. 3 is the work flow diagram of MCU controller in the utility model.
In figure:
11- manipulator 12- classification box
13- conveyer belt 21- industrial camera
22- laser range sensor 23- weight sensor
3- bracket 31- column
32- level frame 41-X axis slide unit
411-X axis sliding block 42-Y axis slide unit
421-Y axis sliding block 43-Z axis slide unit
Specific embodiment
In order to which the technical solution of the utility model is explained further, below by specific embodiment come to the utility model into
Row elaborates.
A kind of sorting equipment of building waste material, carries out different types of point for the mixture to building waste material
It picks and collects respectively, for example, being using tested building waste material as the mixture of discarded wood, brick, plastic tube and concrete
Wood, brick, plastic tube and concrete in combination construction rubbish material can be sorted and be received respectively by example, this sorting equipment
Collection.
As shown in Figure 1-3, this sorting equipment includes conventional belt conveyer, slide unit mould group, the machinery for grabbing material
Hand 11, rotating mechanism, multiple classification boxes 12, detection identification device, data collecting card, motion control card and MCU controller.
This belt conveyer is used for transmission building waste material.
For convenience of description, direction using the direction of transfer of belt conveyer as conveyer belt from front to back, and conveyer belt 13
Direction from front to back is X-direction, and the left and right directions of conveyer belt 13 is Y direction, and up and down direction is Z-direction.
With one section of the transmission building waste material of conveyer belt 13 of belt conveyer for active section, slide unit mould group is set up in
The top of this active section, in the present embodiment, this slide unit mould group is four conventional axis planer-type slide unit mould groups.
Specifically, slide unit mould group includes two X-axis slide units 41, Y-axis slide unit 42 and Z axis slide unit 43, and X-axis slide unit 41 is with its length
Direction outside the left and right side that the mode of the direction of transfer of belt conveyer is installed in active section respectively, Y-axis slide unit 42
Both ends are horizontally fixedly installed in respectively in the X-axis slide block 411 on corresponding X-axis slide unit 41, and Z axis slide unit 43 is vertically fixed to pacify
On the Y-axis sliding block 421 of Y-axis slide unit 42, wherein two X-axis slide units 41 are driven by same X-axis motor, Y-axis slide unit 42
It is driven by y-axis motor, Z axis slide unit 43 is driven by Z axis motor.Also, along Z-direction on Z axis slide unit 43
Rotary shaft is installed, this rotary shaft and a rotating electric machine are sequentially connected, and manipulator 11 is rotated by rotary shaft with direction about the z axis
Mode is mounted on Z axis slide unit 42, so that manipulator rotates about the z axis, wherein rotary shaft and rotating electric machine constitute rotating mechanism.
Preferably, each straight line slide unit uses existing conventional synchronous banding pattern straight line slide unit, in order to make manipulator 11 is more accurately moved to
Corresponding position.
In the present embodiment, classification box 12 setting there are four, and each classification box 12 respectively correspond place discarded wood, brick,
Plastic tube and concrete, and two of them classification box 12 is placed in outside the left side of active section, other two classification box 12 is placed in
Outside the right side of active section.Also, four classification boxes 12 are in the range of slide unit mould group, so that manipulator 11 can reach phase
It is launched at corresponding classification box 12.Wherein, preset in this MCU controller each classification box 12 position coordinates and each classification
Box 12 distinguishes the density range of one-to-one material.
Motion control card, output end is separately connected X-axis motor, y-axis motor, Z axis motor and rotating electric machine, with right respectively
X-axis motor, y-axis motor, Z axis motor and rotating electric machine are controlled.Control by motion control card to X-axis motor, so that
Two X-axis slide blocks can be moved forward and backward with respect to active section, the control by motion control card to y-axis motor, so that Y-axis sliding block is opposite
Active section moves left and right, the control by motion control card to Z axis motor, works so that the Z axis sliding block on Z axis slide unit 43 is opposite
Section moves up and down, the control by motion control to rotating electric machine, so that rotary shaft is able to drive manipulator 11, direction is revolved about the z axis
Turn；With this, controls manipulator 11 and moved in the space that the X-axis, Y-axis and Z-direction of active section are constituted.
Detecting identification device includes industrial camera 21, laser range sensor 22, gravity sensor 23 and encoder.
This encoder is connected in the usual way with belt conveyer, to detect conveyer belt in belt conveyer
Speed；Gravity sensor 23 is installed at manipulator 11, and the weight of this material after material is grabbed to inspecting manipuator 11；Work
Camera 21 and laser range sensor 22 are set up in the top of active section, this industrial camera 21 be used for building waste material into
Row is taken pictures, and laser range sensor 22 is used to detect the height of building waste material.It is installed with bracket 3 outside belt conveyer,
This bracket 3 includes being fixedly arranged on ground upper pillar stand 31 and the horizontal level frame 32 for being installed in column top, this level frame 32 is in X-type,
And it is in the top of active section, wherein industrial camera 21 and laser range sensor 22 are respectively arranged on this level frame 32, and
The probe of the camera of industrial camera 21 and laser range sensor 22 is towards active section.In the present embodiment, bracket can be used
Portal frame substitution, active section are in this portal frame, and industrial camera 21 and laser range sensor 22 are separately mounted to portal frame
Crossbeam on.
Encoder above-mentioned, laser range sensor 22 connect the defeated of data collecting card with the output end of weight sensor 23
Enter end, the respective input of the output end connection MCU controller of data collecting card, data collecting card acquires encoder, Laser Measuring
Away from the data that sensor 22 and weight sensor 23 detect, and collected data are transmitted in MCU controller.Work above-mentioned
The respective input of the output end connection MCU controller of industry camera 21, MCU controller receive the picture that industrial camera 21 acquires,
And the picture of acquisition is handled, specifically, MCU controller has image processing unit, this image processing unit is to adopting
The picture of collection is handled, is calculated, and center, the contour area for obtaining material and the shooting time that can obtain material are mechanical
The position of hand 11；MCU controller obtains the data after image processing unit processing, calculating, and combines the speed of conveyer belt, calculates
Material position to be captured out.The input terminal of the corresponding output end connection motion control card of MCU controller, and motion control card
Output end connects in the manner aforesaid, and motion control card is according to material position coordinates to be captured to X-axis motor, y-axis motor, Z axis
Motor and rotating electric machine make corresponding control instruction, move in the space of active section to control manipulator 11, and move
Control card exports control signal when manipulator 11 reaches at the position for grabbing material to manipulator 11, so that manipulator 11 is quasi-
Corresponding material is really grabbed, after manipulator 11 grabs material, weight sensor 23 detects the weight of the material.
After this MCU controller obtains the weight of corresponding material by data collecting card, in conjunction with the contour area and object of material
The height of material calculates the density of this material, and then, MCU controller is by the density of this material and preset all types of materials
Density range is compared, and judges the affiliated type of this material, and obtain this density range should launch classification box 12 position sit
Mark, then, MCU controller cook up manipulator 11 according to 11 current location of position coordinates and manipulator of corresponding classification box 12
Motion profile, then, MCU controller send instructions to motion control card, the fortune for enabling motion control card be planned according to MCU controller
Dynamic rail mark controls corresponding motor, so that manipulator 11 is moved to corresponding classification box 12, is launched.
Preferably, the motor of the corresponding output end connection belt conveyer of MCU controller, carries out belt conveyer
Control.
In the present invention, MCU controller is existing conventional controller；Manipulator 11 is existing common gripping-type
Manipulator.
The utility model also proposes the method for sorting of the sorting equipment of the building waste material according to previous embodiment, packet
Include following steps:
(1), building waste material dispersion is on the conveyer belt of belt conveyer, when belt conveyer transmission material extremely
Active section, industrial camera 21 take pictures to building waste material, and laser range sensor 22 detects material；
(2), MCU controller receives the picture that industrial camera 21 is shot, and is handled, calculated, and obtains in each material
The position coordinates of heart position coordinates, the contour area of each material and shooting time manipulator 11, data collecting card acquire Laser Measuring
The data of data and the encoder measurement measured away from sensor 22, and be transmitted in MCU controller, it is calculated by MCU controller
The transmission speed of the height of each material and conveyer belt out；
(3), MCU controller calculates the material according to the speed of conveyer belt and the center position coordinates of material to be grabbed
At the position coordinates to be captured of active section and moment, MCU controller to motion control card issue instruct, motion control card according to
The position coordinates of material to be grabbed and moment control X-axis motor, y-axis motor, Z axis motor and rotating electric machine start and stop, respectively with this
It controls corresponding X-axis slide block to be moved forward and backward with respect to active section, control Y-axis sliding block is moved left and right with respect to active section, controls Z axis slide unit
On Z axis sliding block move up and down, control manipulator 11 rotate in direction about the z axis, to control manipulator in the movement of active section, machine
When tool hand is moved at the position for grabbing material, motion control card output control signal, manipulator 11 movement to this material into
Row crawl；
(4), during manipulator 11 grabs this material and uniformly rises, weight sensor measures the weight of this material
Amount, subsequent data collecting card acquires this data, and is transmitted in MCU controller, and MCU controller is according to the weight and step of material
(2) height of calculated material and the contour area of material calculate the density of this material in；
(5), the density of this material is compared MCU controller with the density range of preset different type material, sentences
Break the type of the material, and obtain the position coordinates for placing the classification box of the type material, then MCU controller is according to corresponding point
The current position coordinates of the position coordinates and manipulator 11 of class box 12 cook up manipulator 11 from current location to corresponding classification box
12 motion profile；
(6), MCU controller issues instructions to motion control card, and motion control card is according to the motion profile in step (5) point
Not Kong Zhi X-axis motor, y-axis motor, Z axis motor and rotating electric machine, so that manipulator 11 be made to be moved at corresponding classification box 12,
Subsequent motion control card exports control signal and this can be completed so that material is launched in the movement of manipulator 11 to manipulator
The sorting of material.
It should be noted that MCU controller has image processing unit in step (2), this image processing unit is to industrial phase
The picture that machine 21 is shot is handled, and picture processing application conventional image binaryzation and OpenCV software can obtaining steps
(2) data in.
In step (5), it is in place that the X-axis and Y axis coordinate and manipulator 11 of the current position of manipulator 11 grab material when institute
The X-axis set is consistent with Y axis coordinate, and MCU controller derives the Z axis coordinate of 11 current location of manipulator.
After method for sorting using above-mentioned building waste material sorting device, improve material sort by type it is accurate
Property, also, cost of labor is manually reduced by robotic substitution.
The foregoing is merely the preferred embodiment of the present embodiment, all equalizations done with the utility model claims range
Variation and modification, should belong to the scope of the claims of the utility model.
Claims (4)
1. a kind of sorting equipment of building waste material, the belt conveyer including transported material are transmitted with the belt and are filled
The conveyer belt transmission one section of building waste material set is active section, it is characterised in that: sorting equipment further include be set up in it is described
Slide unit mould group above the active section of the conveyer belt of belt conveyer is respectively arranged at institute for grabbing the manipulator of material
The classification box for being used for placing different type material outside active section two sides is stated, identification device, data collecting card, motion control card are detected
With MCU controller；The classification box is in the range of the slide unit mould group；
The slide unit mould group include two X-axis slide units, Y-axis slide unit and Z axis slide unit, the two X-axis slide units, the Y-axis slide unit and
The Z axis slide unit constitutes planer-type slide unit mould group, and the manipulator is installed in a manner of rotating about the z axis a rotating mechanism
On the Z axis slide unit；The detection identification device includes being connected with the belt conveyer, for detecting conveyor belt speed
Encoder, be set up in above the active section, the laser range sensor for detecting height of materials, be installed on the machinery
Weight sensor at hand, for detecting the manipulator crawl corresponding material weight, and be set up in above the active section, use
In the industrial camera of shooting picture；The output end of the encoder, the output end of the laser range sensor and the weight
The output end of sensor is separately connected the input terminal of the data collecting card, described in the output end connection of the data collecting card
The respective input of MCU controller, the output end of the industrial camera connects the respective input of the MCU controller, described
The corresponding output end of MCU controller connects the input terminal of the motion control card, and the output end of the motion control card is right respectively
The X-axis motor of X-axis slide unit, the rotation of the y-axis motor of Y-axis slide unit, the Z axis motor of Z axis slide unit and the rotating mechanism should be connected
Motor；
The MCU controller is used to receive the picture of the industrial camera acquisition and is handled, and receives the data collecting card
The data of acquisition calculate the density of the material of the manipulator crawl according to the result of processing and received data, and with it is pre-
The density range for the different type material deposited compares, and judges the affiliated type of this material, and control motion control card motion and enable institute
It states manipulator this material is thrown in corresponding classification box.
2. a kind of sorting equipment of building waste material according to claim 1, it is characterised in that: the MCU controller
With the image processing unit that the picture for transmitting to the industrial camera is handled, described image processing unit is to obtain
Material center position is taken, calculates material contour area, and in conjunction with the speed of the conveyer belt, calculate the position of material to be grabbed
It sets.
3. a kind of sorting equipment of building waste material according to claim 1, it is characterised in that: the MCU controller
It inside presets and is sat with the position of the one-to-one matched density range of material type and the corresponding classification box in corresponding classification box
Mark.
4. a kind of sorting equipment of building waste material according to claim 1, it is characterised in that: the MCU controller
Corresponding output end connect the driving motor of the conveyer belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821090148.9U CN208800416U (en) | 2018-07-10 | 2018-07-10 | A kind of sorting equipment of building waste material |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821090148.9U CN208800416U (en) | 2018-07-10 | 2018-07-10 | A kind of sorting equipment of building waste material |
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| CN208800416U true CN208800416U (en) | 2019-04-30 |
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ID=66228482
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109013384A (en) * | 2018-07-10 | 2018-12-18 | 华侨大学 | A kind of sorting equipment and its method for sorting of building waste material |
| CN110395506A (en) * | 2019-08-06 | 2019-11-01 | 东莞弓叶互联科技有限公司 | Sorting-type intelligence garbage-sorting bucket and garbage-sorting method |
| CN110510291A (en) * | 2019-08-06 | 2019-11-29 | 东莞弓叶互联科技有限公司 | Module type intelligence garbage-sorting bucket and garbage-sorting method |
| CN111359917A (en) * | 2020-03-09 | 2020-07-03 | 崔亮 | Circuit board test equipment |
| CN112337818A (en) * | 2020-11-12 | 2021-02-09 | 通标标准技术服务有限公司 | Automatic detection and transportation system based on mechanical arm |
| CN113001520A (en) * | 2021-03-19 | 2021-06-22 | 桂林电子科技大学 | Robot hand-eye calibration device and method |
| CN113118031A (en) * | 2021-03-31 | 2021-07-16 | 北京加隆工程机械有限公司 | Intelligent sorting robot |
| CN110404803B (en) * | 2019-07-10 | 2021-10-26 | 南京工程学院 | Parallel robot sorting system and sorting method based on vision |
-
2018
- 2018-07-10 CN CN201821090148.9U patent/CN208800416U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109013384A (en) * | 2018-07-10 | 2018-12-18 | 华侨大学 | A kind of sorting equipment and its method for sorting of building waste material |
| CN110404803B (en) * | 2019-07-10 | 2021-10-26 | 南京工程学院 | Parallel robot sorting system and sorting method based on vision |
| CN110395506A (en) * | 2019-08-06 | 2019-11-01 | 东莞弓叶互联科技有限公司 | Sorting-type intelligence garbage-sorting bucket and garbage-sorting method |
| CN110510291A (en) * | 2019-08-06 | 2019-11-29 | 东莞弓叶互联科技有限公司 | Module type intelligence garbage-sorting bucket and garbage-sorting method |
| CN111359917A (en) * | 2020-03-09 | 2020-07-03 | 崔亮 | Circuit board test equipment |
| CN112337818A (en) * | 2020-11-12 | 2021-02-09 | 通标标准技术服务有限公司 | Automatic detection and transportation system based on mechanical arm |
| CN113001520A (en) * | 2021-03-19 | 2021-06-22 | 桂林电子科技大学 | Robot hand-eye calibration device and method |
| CN113118031A (en) * | 2021-03-31 | 2021-07-16 | 北京加隆工程机械有限公司 | Intelligent sorting robot |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190802 Address after: 362000 North China Road, Quanzhou City, Fujian Province, 269 Co-patentee after: Fujian Southern Highway Mechanical Co., Ltd. Patentee after: Huaqiao University Address before: Fengze District of Quanzhou city of Fujian Province east of Huaqiao University, 362000 Patentee before: Huaqiao University |
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| TR01 | Transfer of patent right |