CN220004982U - Recoverable rubbish man-machine cooperation letter sorting line based on visual identification - Google Patents
Recoverable rubbish man-machine cooperation letter sorting line based on visual identification Download PDFInfo
- Publication number
- CN220004982U CN220004982U CN202320342579.4U CN202320342579U CN220004982U CN 220004982 U CN220004982 U CN 220004982U CN 202320342579 U CN202320342579 U CN 202320342579U CN 220004982 U CN220004982 U CN 220004982U
- Authority
- CN
- China
- Prior art keywords
- sorting line
- machine
- visual identification
- rotating roller
- man
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 18
- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 14
- 239000000463 material Substances 0.000 claims abstract description 38
- 238000004804 winding Methods 0.000 claims description 22
- 238000001125 extrusion Methods 0.000 claims description 21
- 239000002699 waste material Substances 0.000 claims description 11
- 238000000926 separation method Methods 0.000 claims 3
- 239000004033 plastic Substances 0.000 description 4
- 229920003023 plastic Polymers 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000002985 plastic film Substances 0.000 description 2
- 229920006255 plastic film Polymers 0.000 description 2
- 239000010819 recyclable waste Substances 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000000443 aerosol Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229920001903 high density polyethylene Polymers 0.000 description 1
- 239000004700 high-density polyethylene Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000013077 target material Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Landscapes
- Sorting Of Articles (AREA)
Abstract
The utility model discloses a recoverable garbage man-machine collaborative sorting line based on visual identification, which comprises a first-stage sorting line for manual pre-sorting and a second-stage sorting line for intelligent robot sorting, wherein the second-stage sorting line comprises a main conveying belt, vibrating feeders arranged at feed inlets of the main conveying belt, robots arranged at two sides of the main conveying belt, a plurality of guide tanks for outputting sorted materials in different areas, an industrial intelligent camera arranged on a mechanical arm of the robots and a master control table for controlling the robots to work, the first-stage sorting line comprises a first-stage feeding machine for inputting the materials, a manual sorting conveying belt for conveying the materials and a second-stage feeding machine for feeding the materials from the manual sorting conveying belt to the vibrating feeders, a plurality of stations are correspondingly arranged at two sides of the manual sorting conveying belt, and a film collecting device for collecting films is correspondingly arranged at one side of each station.
Description
Technical Field
The utility model belongs to the technical field of garbage recycling equipment, and particularly relates to a recyclable garbage man-machine collaborative sorting line based on visual identification.
Background
The components of the recyclable waste are more complex than single-product recycling, as are the actual multiple types of recyclable waste. At present, the existing sorting centers always rely on manual sorting.
However, manual sorting is the most routine and effective method in the industry at present, but has a plurality of potential problems in the long term, and particularly, the labor cost is high along with the gradual increase of labor cost and requirements of workers on working environments; moreover, the product sorting is high in error rate due to the fact that manual sorting is completely relied on, the recyclable garbage components are complex, the material forms are complex, a large amount of knowledge and experience are accumulated by staff, so that the materials cannot be accurately distinguished, a plurality of materials cannot be deeply subdivided, standardization is quite difficult to carry out, the efficiency is low, a large amount of resource waste is generated, and a large amount of cost and work are increased for subsequent treatment of the materials.
Disclosure of Invention
The utility model provides a recyclable garbage man-machine collaborative sorting line based on visual identification, which is capable of reducing sorting cost and improving sorting efficiency, and aims to overcome the defects of the prior art.
In order to achieve the above purpose, the present utility model adopts the following technical scheme: the utility model provides a recoverable rubbish man-machine cooperation letter sorting line based on visual identification, includes the one-level letter sorting line of manual work pre-sorting and the second grade letter sorting line of robot intelligence letter sorting, the second grade letter sorting line includes the main conveyer belt, sets up in the vibrating feeder of main conveyer belt feed inlet, set up in the robot of main conveyer belt both sides, be used for with the regional output of material after the letter sorting a plurality of baffle boxes and install in industrial intelligent camera on the arm of robot and be used for controlling the total control cabinet of robot work, the one-level letter sorting line is including the one-level material loading machine that is used for the input material, be used for the manual sorting conveyer belt of material and be used for the second grade material loading machine that is used for material from the manual sorting conveyer belt material loading to the vibrating feeder, manual sorting conveyer belt both sides correspond and be provided with a plurality of stations, every station one side corresponds and is provided with the film collection device that is used for collecting the film.
Preferably, the feeding machine is a chain type belt feeding machine, a foot switch is electrically arranged on the feeding machine, and the foot switch is arranged on one station.
Preferably, the film collecting device comprises a collecting cabin and an extrusion structure for extruding the film into the collecting cabin, wherein the extrusion structure comprises a rotating roller rotatably arranged on one side wall of the collecting cabin, an extrusion strip arranged on the circumference of the rotating roller and a driving motor for driving the rotating roller to rotate.
Preferably, the extrusion strip is an elastic strip.
Preferably, a baffle for limiting the film to fly out of the collecting cabin is arranged on one side of the collecting cabin, which is positioned on the rotating roller and rotates upwards, and an avoiding groove for avoiding the extrusion strip is formed in the baffle.
Preferably, the rotating roller is sleeved with a winding drum, and a plurality of rows of extrusion strips are arranged on the side wall of the winding drum along the circumferential direction.
Preferably, the rotating roller is uniformly provided with a plurality of jacking grooves along the circumferential direction, the inner wall of the winding drum is correspondingly provided with a plurality of jacking strips along the circumferential direction, the jacking strips are arranged at intervals along the length direction, the side wall of the winding drum is provided with a plurality of jacking holes, and when the winding drum is sleeved on the rotating roller, the jacking strips are matched and jacked in the jacking grooves and the jacking strips correspondingly penetrate through the jacking holes.
Preferably, the rotating roller is a conical roller.
Preferably, a disassembly channel for pulling out the winding drum is formed in the side wall of the collecting cabin, which is positioned at one end of the rotating roller, and a side wall plate is detachably arranged on the disassembly channel.
The utility model has the technical effects that:
1. through the setting of one-level letter sorting line and second grade letter sorting line, adopt the mode of man-machine cooperation to sort rubbish, the manual sorting through one-level letter sorting line earlier, will produce the plastic film class material of interference easily to visual recognition and sort, then evenly cloth the material to main conveyer belt through vibrating feeder, the arm cooperation through industry smart camera and robot, under the control of total control board, sort the material, thereby effectively accomplish main letter sorting work through the robot, reduce the experience and knowledge requirement to the workman, improve letter sorting efficiency and quality to the material, reduce the waste of resource, reduce workman's intensity of labour, reduce letter sorting cost.
2. Through film collection device's setting, because film quality is light, rely on self gravity hardly to fall into the collection cabin, and pile up fluffy easy departure collection cabin, because utilize the live-rollers to drive the extrusion strip with the film extrusion into collection cabin in to restrict the film through the baffle and be taken out by the live-rollers, thereby need not and the workman of letter sorting line manual plug into collection cabin in and frequently carry out manual pressing, thereby further reduce labourer's intensity of labour, indirectly improve efficiency and the quality of letter sorting.
3. Through the structure setting of receipts reel, because some film can twine on the live-rollers when the live-rollers rotates, can take down the reel alone from the live-rollers, conveniently collect the film.
Drawings
Fig. 1 is a schematic flow chart of the structure of the present utility model.
Fig. 2 is a schematic structural view of the film collecting apparatus.
Fig. 3 is a schematic structural view of the extrusion structure.
Fig. 4 is a schematic structural view of the top pressing bar.
The reference numerals of the main technical characteristics in the drawings are as follows: 11. a first-stage feeding machine; 12. manually sorting the conveyer belt; 13. a secondary feeding machine; 14. a main conveyor belt; 15. a vibratory feeder; 16. a robot; 17. a guide groove; 2. A station; 31. A collection chamber; 311. a side wall panel; 32. a rotating roller; 33. extruding the strip; 34. a driving motor; 35. winding up a winding drum; 36. pressing the groove; 37. a top pressing bar; 38. an ejection hole; 39. a baffle; 391. avoiding the groove.
Detailed Description
The utility model is further illustrated by the following detailed description and the accompanying drawings.
As shown in fig. 1-4, a recoverable garbage man-machine collaborative sorting line based on visual identification comprises a primary sorting line and a secondary sorting line, wherein the primary sorting line comprises a primary feeding machine 11, a manual sorting conveyor belt 12 and a secondary feeding machine 13, the manual sorting conveyor belt 12 is a common belt conveyor in the prior art, and the primary feeding machine 11 and the secondary feeding machine 13 are respectively arranged at a feeding end and a discharging end of the manual sorting conveyor belt 12 and are both common chain type belt feeding machines; a plurality of stations 2 are respectively arranged on two sides of the manual sorting conveyer belt 12 in a staggered manner, workers are arranged on each station 2 to sort plastic film materials which are easy to interfere visual recognition, and a film collecting device is arranged on one side of each station 2; the primary feeding machine 11 is electrically connected with a foot switch, and the foot switch is arranged on the station 2 close to the primary feeding machine 11, so that a worker can conveniently control the feeding speed in real time.
Further, the secondary sorting line comprises a main conveyor belt 14, a vibrating feeder 15, a robot 16, a plurality of guide grooves 17, an industrial intelligent camera and a master control table, wherein the main conveyor belt 14 is a common belt conveyor in the prior art, the vibrating feeder 15 is positioned at the feeding end of the main conveyor belt 14, and the feeding port of the vibrating feeder 15 is positioned at the discharging end of the secondary feeding machine 13; the robots 16 are respectively arranged at two sides of the main conveyor belt 14 and are provided with a plurality of robots, the robots 16 are common sorting robots 16 with clamping jaws, one sides of the clamping jaws are provided with industrial intelligent cameras for identifying materials with different classifications, and the robots are connected with a master console through signals to form a machine vision system; a guide chute 17 is arranged on one side of each robot 16 and is used for guiding out sorted materials for independent treatment; the general console is in the prior art and can be an intelligent control terminal such as a computer.
Specifically, the machine vision system captures an image by the industrial intelligent camera, then transmits the image to the processing unit of the control end, and performs digital processing to determine the size, shape, color, etc. according to the pixel distribution, brightness, color, etc. information, and further controls the on-site robot 16 to operate according to the determination result. The program used is a common image recognition program, and is mainly based on sampling and marking ten materials of white brown porcelain four-color glass bottles, waste iron cans, waste aluminum cans, HDPE plastics, plastic sucking sheets, PET plastics and aerosols, and the material recognition of two vision modules of waste glass and waste plastics is formed through deep learning software, so that a robot 16 sorting system with vision modules is formed based on a parallel robot 16 and an industrial intelligent camera. Different objects are intelligently identified through the vision module, the system can complete high-speed sorting work, the adaptability of the robot 16 to the working environment is remarkably improved, and the working efficiency is improved.
Specifically, the film collecting device includes a collecting chamber 31 and an extrusion structure, the collecting chamber 31 is placed on the corresponding station 2, and may be a deep collecting basket or an inlet area of a long pipeline for directly guiding the film to a film processing workshop, and the hatch height of the collecting basket is adapted to the working height of a worker.
Further, the extruding structure includes a rotating roller 32, an extruding strip 33 and a driving motor 34, the rotating roller 32 is rotatably mounted in the collecting chamber 31 at one side through a rotating shaft, the driving motor 34 is mounted on the outer wall of the collecting chamber 31 and fixedly connected with the rotating roller 32 on an output shaft thereof, and the driving motor 34 is a speed-reducing stepping motor to drive the rotating roller 32 to rotate slowly.
Further, the rotating roller 32 is sleeved with a winding drum 35, a plurality of jacking grooves 36 are uniformly formed in the outer wall of the rotating roller 32 along the circumferential direction, a plurality of jacking strips 37 are movably arranged in the inner wall of the winding drum 35 along the circumferential direction, the jacking strips 37 are hard strips with high rigidity and can be steel strips, the jacking strips 37 are fixedly connected with the extrusion strips 33 along the length direction at intervals, the extrusion strips 33 are conical strips made of rubber materials, a plurality of ejection holes 38 are formed in the side wall of the winding drum 35, and when the winding drum 35 is sleeved on the rotating roller 32, the jacking strips 37 are matched and jacked in the jacking grooves 36, and the small ends of the extrusion strips 33 correspondingly penetrate through the ejection holes 38; when the film wound on the winding drum 35 needs to be collected, the winding drum 35 is pulled out, and the extrusion strip 33 is pressed into the winding drum 35 so as to quickly detach the film.
Further, the rotating roller 32 is a conical roller, so as to facilitate the detachment of the winding drum 35.
Further, the collecting chamber 31 is located on the side wall of the rotating roller 32 far away from the motor, and a disassembly channel is formed in the side wall of the rotating roller 32, and the side wall plate 311 is detachably mounted on the disassembly channel, so that the collecting drum 35 can be conveniently disassembled from the disassembly channel by disassembling the side wall plate 311.
Further, a baffle 39 is fixedly connected to the side of the hatch of the collecting chamber 31, which is pivoted upward from the rotating roller 32, and an avoidance groove 391 is formed on the baffle 39 to prevent the film from flying out of the collecting chamber 31 while avoiding interference of the extrusion strip 33.
The specific implementation process of the utility model is as follows: after the interference materials are removed, the residual materials are conveyed to a vibration feeder 15 through a secondary feeder 13 for uniform feeding, the materials are ensured to be uniformly distributed on a secondary sorting line, the materials are convenient for the robot 16 to grab, the robot 16 grabs target materials respectively according to a preset data module, and then the materials are put into a material turnover box at the lower part of a platform through a guide chute 17 for sorting.
The above embodiments are merely examples of the present utility model, but the present utility model is not limited thereto, and the present utility model may be applied to similar products, and any person skilled in the art who is skilled in the field of the present utility model shall make changes or modifications within the scope of the present utility model.
Claims (9)
1. Recoverable rubbish man-machine cooperation letter sorting line based on visual identification, its characterized in that: including artifical pre-sorting's one-level letter sorting line and second grade letter sorting line of intelligent letter sorting of robot (16), the second grade letter sorting line include main conveyer belt (14), set up in vibrating feeder (15) of main conveyer belt (14) feed inlet, set up in robot (16) of main conveyer belt (14) both sides, be used for with the material after the letter sorting divide regional output a plurality of baffle boxes (17) and install in the master control platform that is used for controlling robot (16) work on the arm of robot (16), one-level letter sorting line is including one-level material loading machine (11) that are used for the input material, be used for the artifical separation conveyer belt (12) of material and be used for with material follow artifical separation conveyer belt (12) material loading to second grade material loading machine (13) on vibrating feeder (15), artifical separation conveyer belt (12) both sides correspond and are provided with a plurality of stations (2), and every station (2) one side corresponds and is provided with the film collection device that is used for collecting the film.
2. The recoverable waste man-machine collaborative sorting line based on visual identification according to claim 1, wherein: the feeding machine is a chain type belt feeding machine, a foot switch is electrically connected to the feeding machine, and the foot switch is arranged beside a station (2).
3. The recoverable waste man-machine collaborative sorting line based on visual identification according to claim 1, wherein: the film collecting device comprises a collecting cabin (31) and an extrusion structure for extruding a film into the collecting cabin (31), wherein the extrusion structure comprises a rotating roller (32) rotatably installed on one side wall of the collecting cabin (31), extrusion strips (33) arranged on the circumference of the rotating roller (32) and a driving motor (34) for driving the rotating roller (32) to rotate.
4. A recoverable waste man-machine collaborative sorting line based on visual identification according to claim 3, wherein: the extrusion strip (33) is an elastic cone strip.
5. A recoverable waste man-machine collaborative sorting line based on visual identification according to claim 3, wherein: the collecting cabin (31) is located at one side of the rotating roller (32) which rotates upwards and is provided with a baffle (39) for limiting the film to fly out of the collecting cabin (31), and the baffle (39) is provided with an avoiding groove (391) for avoiding the extrusion strip (33).
6. A recoverable waste man-machine collaborative sorting line based on visual identification according to claim 3, wherein: the rotating roller (32) is sleeved with a winding drum (35), and a plurality of extrusion strips (33) are arranged on the side wall of the winding drum (35) along the circumferential direction.
7. The visual identification-based recyclable garbage man-machine collaborative sorting line according to claim 6, wherein: a plurality of jacking grooves (36) are uniformly formed in the rotating roller (32) along the circumferential direction, a plurality of jacking strips (37) are correspondingly arranged on the inner wall of the winding drum (35) along the circumferential direction, the jacking strips (37) are arranged at intervals along the length direction, a plurality of jacking holes (38) are formed in the side wall of the winding drum (35), and when the winding drum (35) is sleeved on the rotating roller (32), the jacking strips (37) are matched and jacked in the jacking grooves (36) and the jacking strips (33) correspondingly penetrate through the jacking holes (38).
8. The visual identification-based recyclable garbage man-machine collaborative sorting line according to claim 7, wherein: the rotating roller (32) is a conical roller.
9. The visual identification-based recyclable garbage man-machine collaborative sorting line according to claim 6, wherein: the collecting cabin (31) is located on the side wall of one end of the rotating roller (32) and is provided with a disassembly channel for the winding drum (35) to be pulled out, and the disassembly channel is detachably provided with a side wall plate (311).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320342579.4U CN220004982U (en) | 2023-02-28 | 2023-02-28 | Recoverable rubbish man-machine cooperation letter sorting line based on visual identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320342579.4U CN220004982U (en) | 2023-02-28 | 2023-02-28 | Recoverable rubbish man-machine cooperation letter sorting line based on visual identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220004982U true CN220004982U (en) | 2023-11-14 |
Family
ID=88688486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320342579.4U Active CN220004982U (en) | 2023-02-28 | 2023-02-28 | Recoverable rubbish man-machine cooperation letter sorting line based on visual identification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220004982U (en) |
-
2023
- 2023-02-28 CN CN202320342579.4U patent/CN220004982U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106984556B (en) | A kind of plastic bottle intelligent sorting system and its working method | |
| CN206030537U (en) | Online automatic tectorial membrane and vision positioning automatic cutout's device | |
| CN110550489B (en) | Automatic handle cutting machine of defect material | |
| CN210527448U (en) | Garbage can capable of automatically classifying garbage in residential area | |
| CN108333316B (en) | Casing detection machine | |
| WO2023197918A1 (en) | Glove sorting apparatus and method based on visual inspection | |
| CN110202716A (en) | Waste product plastic bottle sorting system and its method for sorting | |
| WO2013106904A1 (en) | Automatic online defective elements-checking-and-removing device for flexographic printing presses | |
| CN213103313U (en) | Storage box equipment | |
| CN110394307B (en) | Tobacco leaf automated inspection letter sorting system | |
| CN220004982U (en) | Recoverable rubbish man-machine cooperation letter sorting line based on visual identification | |
| CN208439521U (en) | A kind of online scoreboard of FPC and detection packing machine | |
| CN104820417B (en) | Intelligent space stack puts together machines people's production line | |
| CN217165388U (en) | Unqualified glove classifying screen device | |
| US20130181396A1 (en) | Automatic Online Defective Elements-Checking-and-Removing Device for Flexographic Printing Presses | |
| CN204892376U (en) | Automatic feed and sorter | |
| CN217165375U (en) | Glove sorting device based on visual detection | |
| CN206358809U (en) | A kind of waste collection systems in carton factory multilayer workshop | |
| CN106426642A (en) | Near-infrared sorting device for waste household appliance dismantled and broken plastic | |
| CN214107907U (en) | Pearl colour sorting device | |
| CN208361506U (en) | Carton production line automatic counting feeding-distribution device | |
| CN211618839U (en) | Multifunctional garbage classification treatment room | |
| CN215514467U (en) | A equipment that is used for off-line coding of bag box product to detect | |
| CN203934641U (en) | Conveying device for production of fodder | |
| CN110385276A (en) | A kind of mechanism for sorting for apple sorting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 2062-8, Moganshan Road, Liangzhu street, Yuhang District, Hangzhou, Zhejiang 311113 Patentee after: Zhejiang Huge Waste Management Co.,Ltd. Address before: No. 2062-8, Moganshan Road, Liangzhu street, Yuhang District, Hangzhou, Zhejiang 311113 Patentee before: ZHEJIANG HUGE ENVIRONMENT Co.,Ltd. |