CN210935999U - Self-adaptive efficient material picking and sorting device - Google Patents
Self-adaptive efficient material picking and sorting device Download PDFInfo
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- CN210935999U CN210935999U CN201921327189.XU CN201921327189U CN210935999U CN 210935999 U CN210935999 U CN 210935999U CN 201921327189 U CN201921327189 U CN 201921327189U CN 210935999 U CN210935999 U CN 210935999U
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- 239000000463 material Substances 0.000 title claims abstract description 71
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000002536 laser-induced breakdown spectroscopy Methods 0.000 claims abstract description 13
- 239000000126 substance Substances 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims 1
- 229910052782 aluminium Inorganic materials 0.000 abstract description 16
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 abstract description 16
- 239000004411 aluminium Substances 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 2
- 239000002699 waste material Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000003595 spectral effect Effects 0.000 description 5
- 229910000838 Al alloy Inorganic materials 0.000 description 4
- 239000000956 alloy Substances 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
- 238000000295 emission spectrum Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001228 spectrum Methods 0.000 description 3
- 229910045601 alloy Inorganic materials 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000000704 physical effect Effects 0.000 description 2
- 229910000881 Cu alloy Inorganic materials 0.000 description 1
- 229910000861 Mg alloy Inorganic materials 0.000 description 1
- 229910000676 Si alloy Inorganic materials 0.000 description 1
- 238000003723 Smelting Methods 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- CSDREXVUYHZDNP-UHFFFAOYSA-N alumanylidynesilicon Chemical compound [Al].[Si] CSDREXVUYHZDNP-UHFFFAOYSA-N 0.000 description 1
- WPPDFTBPZNZZRP-UHFFFAOYSA-N aluminum copper Chemical compound [Al].[Cu] WPPDFTBPZNZZRP-UHFFFAOYSA-N 0.000 description 1
- SNAAJJQQZSMGQD-UHFFFAOYSA-N aluminum magnesium Chemical compound [Mg].[Al] SNAAJJQQZSMGQD-UHFFFAOYSA-N 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- -1 ferrous metals Chemical class 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000004451 qualitative analysis Methods 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The utility model discloses a sorting unit is picked up to material high efficiency of self-adaptation, the device includes that the arm picks up the system, conveyor belt system, sensor system, LIBS detecting system, sorting system and main control computer. The mechanical arm picks up materials from the material bin and is placed on a central line of the conveying belt, after the shape and the volume of the materials are identified by the sensor system, the LIBS detection system adaptively adjusts the height of the assembly to obtain the best measurement effect, then the sorting system blows the materials into different material collecting boxes according to the identification result of the LIBS detection system and the volume of the materials, and all sub-systems realize coordination work through the main control computer. The utility model discloses can adapt to the not material detection discernment demand of equidimension automatically, realize picking up the automation that different trade marks mix old and useless aluminium material to on-line identification detects and selects separately, compares and has very high efficiency and precision in traditional discernment sorting system.
Description
Technical Field
The utility model belongs to old and useless aluminum alloy is selected separately and spectral detection analysis field, especially a sorting unit is picked up to material high efficiency of self-adaptation.
Background
Aluminum is the second metal to use in the world, second only to steel. The global annual production of aluminum exceeds the sum of all other non-ferrous metals. The method is the most effective way for developing the secondary aluminum by finely sorting and efficiently separating the waste aluminum, can save a large amount of energy sources such as water and electricity, reduces the production cost and lightens the pollution to the environment. At present, most of waste aluminum treatment technologies cannot perform the sorting function on aluminum alloy materials with similar physical properties and different chemical components. The most ideal sorting method is to sort the waste aluminum into several categories according to the alloy components, such as aluminum-copper alloy, aluminum-magnesium alloy, aluminum-silicon alloy and the like, or sort the waste aluminum according to the components close to a certain aluminum alloy mark, so that the difficulty of impurity removal and component adjustment in the smelting process can be reduced, the alloy elements in the waste aluminum can be comprehensively utilized, and the degradation use of the waste aluminum is avoided.
The Laser Induced Breakdown Spectroscopy (LIBS) technology forms plasma on the surface of an ultrashort pulse laser focusing material, a spectrometer is used for analyzing the emission spectrum of the plasma, the element composition of a sample can be determined according to the wavelength of a characteristic peak of collected spectral data, the content of elements can be determined by modeling according to different intensities of the characteristic peak, and therefore qualitative and quantitative analysis of the sample is achieved. The method has the advantages of non-contact type, full-element analysis and very high analysis speed, and is particularly suitable for high-speed online detection of various types of original samples in the industrial field production process.
Disclosure of Invention
An object of the utility model is to above-mentioned prior art not enough, the utility model aims to provide a sorting unit is picked up to material high efficiency of self-adaptation to solve most old and useless aluminium processing technology among the prior art and to the aluminum alloy material of the similar different chemical composition of physical properties, can't exert its problem of sorting action.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model discloses a sorting unit is picked up to material high efficiency of self-adaptation, include: the system comprises a mechanical arm picking system, a conveyor belt system, a sensor system, an LIBS detection system, a sorting system and a main control computer; wherein the content of the first and second substances,
the mechanical arm picking system is placed on the ground at one end of the conveyor belt system and is used for detecting the materials; a mechanical arm in the mechanical arm picking system clamps the material from the material bin by controlling the clamp holder and places the material on a central line of a conveyor belt in the conveyor belt system;
a conveyor system moving at a constant velocity v; the method comprises the following steps: a conveyor belt and a machine body; a sensor system and an LIBS detection system are arranged on the machine body; a sorting system is arranged at the tail end of the conveyor belt;
the sensor system comprises a line laser profiler and a photoelectric sensor; the line laser profiler is fixed on a cross beam fixed on a machine body in a conveyor belt system, and the photoelectric sensors are fixed on baffles on two sides of the conveyor belt;
the LIBS detection system comprises a laser, a plane mirror, a convex lens and a spectrometer; the laser is fixed on an electric lifting table, and the electric lifting table is carried on the conveyor belt; the plane reflector is fixed on the laser and forms an angle of 45 degrees with the conveyor belt; the convex lens is fixed on the baffle of the conveyor belt through an electric lifting support and is positioned right below the plane reflector;
laser emitted by the laser is reflected by the plane reflector, focused by the convex lens and then applied to the surface of the material, and plasma is excited; the spectrometer collects and analyzes the plasma emission spectrum and transmits the spectrum data to the main control computer;
the main control computer is connected with the photoelectric sensor, the electromagnetic valve in the sorting system, the electric lifting platform and the electric lifting support through the arm plate; a laser profiler, a laser and a spectrometer are connected through a twisted pair cable; the system is used for receiving spectral data transmitted by a spectrometer and analyzing and identifying the brand of the material; controlling the lifting heights of the electric lifting platform and the electric lifting support according to the material volume information measured by the receiving line laser profiler;
the sorting system comprises a nozzle and a material collecting box, and the pitch angle and the air flow size of the nozzle are controlled to blow materials to different material collecting boxes.
Further, the gripper is a four-jaw gripper.
The utility model has the advantages that:
the utility model discloses can the not material detection discernment demand of equidimension of self-adaptation, realize picking up the mixed old and useless aluminium material of four kinds of different marks is automatic to carry out full-automatic online discernment and detect and select separately, have very high efficiency and precision.
Drawings
Fig. 1 is a front view of the device of the present invention.
Wherein: 1. the device comprises a material bin, 2, a circular base, 3, a mechanical arm, 4, a clamp holder, 5, a conveyor belt, 6, materials, 7, a linear laser profilometer, 8, a photoelectric sensor, 9, a cross beam, 10, a laser, 11, a plane mirror, 12, a convex lens, 13, a connecting support, 14, an electric lifting support, 15, an electric lifting platform, 16, a support, 17, a nozzle, 18, a material collecting box, 19 and a spectrometer.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1, the utility model discloses a sorting unit is picked up to high efficiency of material of self-adaptation, in the example, include: the system comprises a mechanical arm picking system, a conveyor belt system, a sensor system, an LIBS detection system, a sorting system and a main control computer; wherein the content of the first and second substances,
the mechanical arm picking system is placed on the ground at one end of the conveyor belt system through the circular base 2 and provides detection materials for the whole system; a mechanical arm 3 in the mechanical arm picking system clamps waste aluminum materials 6 from a material bin 1 by controlling a four-claw clamp holder 4 and places the materials on a central line of a conveyor belt 5;
the conveyor belt system is used for conveying the materials 6, carrying and connecting the components, and moving at a constant speed v; the method comprises the following steps: a conveyor belt 5 and a body; a sensor system and an LIBS detection system are arranged on the machine body, and a sorting system is arranged at the tail end of the conveyor belt;
a sensor system comprising a line laser profiler 7 and a photosensor 8; the line laser profiler 7 is fixed on a cross beam 9 fixed on a machine body in a conveyor belt system through bolts, and the photoelectric sensor 8 is fixed on baffles on two sides of the conveyor belt through bolts; when the material 6 passes below the line laser profiler 7, triggering the photoelectric sensor 8, judging that the material passes through the photoelectric sensor 8, feeding a pulse signal back to the main control computer by the photoelectric sensor 8, starting timing by the main control computer, and then scanning and estimating the volume of the material by the line laser profiler 7;
the LIBS detection system comprises a laser 10, a plane mirror 11, a convex lens 12 and a spectrometer 19, wherein the laser 10 is fixed on an electric lifting table 15 through a positioning hole, and the electric lifting table 15 is carried on a conveyor belt through two supports 16; the plane reflector 11 is fixed on the laser 10 through a connecting bracket 13, so that the relative position of the reflector and the laser is unchanged, and an angle of 45 degrees is formed between the reflector and the conveyor belt 5; the convex lens 12 is fixed on a baffle of a conveyor belt through an electric lifting support 14 and is positioned right below the plane reflector 11, and the heights of the lifting platform 15 and the electric lifting support 14 can be adjusted in a self-adaptive mode according to materials with different sizes, so that laser can be focused on the lower part of the surface of the material all the time, and the optimal measuring effect is realized;
laser emitted by a laser 10 is reflected by a plane reflector 11, focused by a convex lens 12 and then applied to the surface of a material to excite plasma; the spectrometer 19 collects and analyzes the plasma emission spectrum and transmits the spectrum data to the main control computer;
a main control computer (not shown in the figure) controls the photoelectric sensor, the electromagnetic valve in the sorting system, the electric lifting platform 15 and the electric lifting support 14 to lift through an arm board; the laser profiler 7, the laser 10 and the spectrometer 19 are connected with the system components through the twisted pair connecting wires, so that spectrum data transmitted by the spectrometer can be received, and the brand of the material is analyzed and identified; according to the material volume information measured by the receiving line laser profiler, the accurate control of each system is realized;
the sorting system is used for identifying the category of the material according to the main control computer, and comprises a nozzle 17 and a material collecting box 18, and the material is blown to different material collecting boxes 18 by controlling the pitching angle and the air flow of the nozzle 17.
The utility model discloses a sorting unit is picked up to self-adaptation material high efficiency's theory of operation as follows:
the conveying belt moves at a constant speed v, and the mechanical arm picks up waste aluminum materials from the material bin and places the waste aluminum materials on a central line of the conveying belt; when a material passes below the line laser profiler, triggering a photoelectric sensor to judge whether the material passes through, scanning and calculating the shape and the volume of the material by the line laser profiler, and starting timing by a main control computer; the heights of the lifting platform and the electric lifting support are self-adaptively adjusted according to the shape and the size of the material, so that laser is always focused on the lower part of the surface of the material, and the optimal measurement effect is realized; to be subjected to
(the horizontal distance between the photoelectric sensor and the laser focusing point is a), when the material passes through the focusing point of the convex lens, the laser emits laser, the laser is reflected by the plane mirror, the convex lens focuses on the surface of the material, plasma is excited, and the spectrometer collects spectral data and transmits the spectral data to the main control computer; the main control computer performs identification analysis according to the measured data to obtain a classification result; to be subjected to
(the horizontal distance between the tail end of the conveyor belt and the laser focusing point is b), the conveyor belt conveys the materials to the tail end, and the sorting system blows air flows with different sizes and angles out through the control nozzle according to the sorting result of the main control computer and the volume of the materials, so that the waste aluminum materials are blown into different material collecting boxes.
The utility model discloses the concrete application way is many, and the above-mentioned only is the preferred embodiment of the utility model, should point out, to ordinary skilled person in this technical field, under the prerequisite that does not deviate from the utility model discloses the principle, can also make a plurality of improvements, and these improvements also should be regarded as the utility model discloses a scope of protection.
Claims (2)
1. The utility model provides a sorting unit is picked up to high-efficient material of self-adaptation which characterized in that includes: the system comprises a mechanical arm picking system, a conveyor belt system, a sensor system, an LIBS detection system, a sorting system and a main control computer; wherein the content of the first and second substances,
the mechanical arm picking system is arranged on the ground at one end of the conveyor belt system, and a mechanical arm in the mechanical arm picking system clamps the material from the material bin by controlling the clamp holder and places the material on a center line of the conveyor belt in the conveyor belt system;
a conveyor system moving at a uniform speed, comprising: a conveyor belt and a machine body; a sensor system and an LIBS detection system are arranged on the machine body; a sorting system is arranged at the tail end of the conveyor belt;
the sensor system comprises a line laser profiler and a photoelectric sensor; the line laser profiler is fixed on a cross beam fixed on a machine body in a conveyor belt system, and the photoelectric sensors are fixed on baffles on two sides of the conveyor belt;
the LIBS detection system comprises a laser, a plane mirror, a convex lens and a spectrometer; the laser is fixed on an electric lifting table, and the electric lifting table is carried on the conveyor belt; the plane reflector is fixed on the laser and forms an angle of 45 degrees with the conveyor belt; the convex lens is fixed on the baffle of the conveyor belt through an electric lifting support and is positioned right below the plane reflector;
the main control computer is connected with the photoelectric sensor, the electromagnetic valve in the sorting system, the electric lifting platform and the electric lifting support through the arm plate; a laser profiler, a laser and a spectrometer are connected through a twisted pair cable;
the sorting system comprises a nozzle and a material collecting box, and the pitch angle and the air flow size of the nozzle are controlled to blow materials to different material collecting boxes.
2. The adaptive high material pick-up sorting device of claim 1, wherein the gripper is a four-jaw gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921327189.XU CN210935999U (en) | 2019-08-15 | 2019-08-15 | Self-adaptive efficient material picking and sorting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921327189.XU CN210935999U (en) | 2019-08-15 | 2019-08-15 | Self-adaptive efficient material picking and sorting device |
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| CN210935999U true CN210935999U (en) | 2020-07-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449373A (en) * | 2019-08-15 | 2019-11-15 | 南京航空航天大学 | A kind of adaptive material high-efficiency picks up sorting unit and method |
| CN112539948A (en) * | 2020-12-07 | 2021-03-23 | 沈斌华 | Large-scale production device with sampling and comparing functions for biological breeding |
| CN113601900A (en) * | 2021-07-30 | 2021-11-05 | 广东旺盈环保包装实业有限公司 | Automatic assembly equipment of world box |
| CN117420122A (en) * | 2023-10-07 | 2024-01-19 | 华中科技大学 | LIBS-based aluminum magnesium alloy intergranular corrosion evaluation system and method |
-
2019
- 2019-08-15 CN CN201921327189.XU patent/CN210935999U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449373A (en) * | 2019-08-15 | 2019-11-15 | 南京航空航天大学 | A kind of adaptive material high-efficiency picks up sorting unit and method |
| CN112539948A (en) * | 2020-12-07 | 2021-03-23 | 沈斌华 | Large-scale production device with sampling and comparing functions for biological breeding |
| CN113601900A (en) * | 2021-07-30 | 2021-11-05 | 广东旺盈环保包装实业有限公司 | Automatic assembly equipment of world box |
| CN113601900B (en) * | 2021-07-30 | 2022-12-16 | 广东旺盈环保包装实业有限公司 | Automatic assembly equipment of world box |
| CN117420122A (en) * | 2023-10-07 | 2024-01-19 | 华中科技大学 | LIBS-based aluminum magnesium alloy intergranular corrosion evaluation system and method |
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