JP3288463B2 - Demolition sorting method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for providing disassembly separation information and an automatic disassembly separation apparatus for mainly decomposing an industrial product and collecting each material.

[0002]

2. Description of the Related Art Conventionally, there is a processing method in which a product is shredded by a shredder, separated into metal and other materials by specific gravity separation, the metal is recycled, and the other material is used as landfill for landfill. is there.

However, industrial products such as home electric appliances and motorcycles generally contain various resins, metals and liquids, and are disassembled by hand when dismantled, and are roughly classified into metals and resins. A method of recovering each material by an apparatus is adopted (for example, see JP-A-61-38641).

At the stage of such conventional disassembly separation work,
Some materials cannot be distinguished, or the inside state cannot be determined. This has led to a decrease in the efficiency of disassembly work and the efficiency of separation and recovery. Further, it is difficult to distinguish plastics and the like even if they can be reused, and as a result, all of them are treated as garbage and effective use of resources cannot be achieved. The inability to obtain more accurate disassembly and separation information hindered automation of disassembly and separation work. So, for a product,
Product disassembly information that includes at least
When disassembling the product by storing it together with the specified data
Is stored with data identifying the product as a key.
From the disassembly information of the product to be disassembled
Even if you try to remove
In the case of
There are times.

[0005] The present invention has been made in view of the above points, and its purpose is to provide a method for converting a product or the like.
Also automatically obtains information for disassembly and separation
Another object of the present invention is to provide a disassembly separation method capable of completely automating the process .

[0006]

In order to achieve the above-mentioned object, the invention according to the first aspect of the present invention provides information on materials and mounting parts for each product or part, and work information on procedures and methods for disassembly and separation. Is stored in a data bank, product identification information for identifying a product is input, and the input product identification information is stored.
Of dismantling classification information from the databank based on the information
The product or part image acquired by the image acquisition means.
Analyzing the image information to obtain image analysis information,
Information against the image analysis information and if necessary, disassembly separation
Obtain the corrected information with the information corrected, the disassembly separation information or
Performs disassembly and separation of products or parts based on the correction information.
The dismantling method was adopted.

When the product identification information of the product to be dismantled is inputted, information on the material and mounting site for each product and disassembly analysis information such as work information on the procedure and method for disassembly and separation are obtained from the data bank based on the input information. Is searched for a product or
Analyzing the image information of the part and comparing it with the image analysis information obtained
Check the subsequent changes and provide disassembly separation information if necessary
Obtain the corrected information and use it as disassembly separation information or correction information.
Products or parts are disassembled and separated based on
Even if there is a change from the state of the standard, accurate disassembly and separation work can be performed efficiently by easily coping with the change , and fine separation and collection for each material can be performed.

[0008] The invention according to claim 2 is a solution according to claim 1.
In the body classification method, the information of the data bank is referred to.
Identifying the material of the disassembled and separated resin member,
The crushed resin member is crushed by crushing means.
Transported resin material selectively for the same material by transport means
It is characterized in that it is stored for each same material by storage means
I do. After disassembly, the resin material is dismantled and then sequentially crushed and transported and stored for each material based on the required information in the data bank to improve the resin recovery rate and reduce the volume and improve the space efficiency. Can be planned.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention shown in FIGS. 1 and 3 will be described below. The present embodiment is an example in which the present invention is applied to an automatic dismantling and separating apparatus for a motorcycle, and FIG. 1 is a system configuration diagram of a control system thereof.

A working device 10 for disassembling and separating a motorcycle includes:
The disassembly and separation controller 1 is controlled by the disassembly and separation controller 1. The disassembly and separation controller 1 includes a data bank 2 in which product information is stored. Output to the dismantling and sorting work device 10.

The identification information of the motorcycle to be dismantled is written as a bar code on the ID card 11, and a bar code reader 5 for reading the bar code of the ID card 11 is provided in the dismantling sorting controller 1. .

Image information from a camera 12 for reflecting the state of the motorcycle is input to the disassembly / separation controller 1, and image analysis means 6 for analyzing the image.
The analysis result is sent to the information processing means 4 and is used for correcting the work. The dismantling and sorting work apparatus 10 is controlled under the above system configuration.

The database 2 stores data such as types and amounts of materials, parts to be attached to parts by material, disassembly procedures and methods, disassembly procedures and methods, and member shapes for each type of motorcycle. The side creates recycle data for each model and part, and inputs the data to the database 2 based on the recycle data.

The materials are roughly divided into metals, rubbers, and resins. Metals are finely divided into iron, aluminum, copper, lead and others, and resins are also PP, PE, AES, and the like. Data such as an attachment part, a disassembly procedure, and a method are input for each of them which are finely classified into ABS and others.

On the other hand, in the ID card 11, information such as a vehicle number, an engine number, a part number and other information for identifying the product are written in a bar code or the like.

Therefore, the motorcycle to be dismantled is set in the disassembly and separation work apparatus 10, and the ID card related to the motorcycle is set.
When the bar code reader 5 is read by the bar code reader 5, the search means 3 searches the database 2 based on the read product identification information to extract necessary material data and work data of the product, and It is sent to the processing means 4.

The information processing means 4 outputs a specific control signal to the disassembly / separation work device 10 based on the material data and the work data to control the disassembly / separation work.

[0018] The motorcycle to be dismantled does not always maintain the state of the new car at all, and there are parts that are different from those at the time of shipment due to deformation and attachment parts.
A camera 12 is provided to check these, and image information taken by the camera 12 is analyzed by the image analysis means 6 and output to the information processing means 4.

Hereinafter, a processing routine by the information processing means 4 will be described with reference to FIG. First, the information retrieved by the retrieval means is fetched (step 1). As described above, the search information includes material data such as the type of material and the attachment site, and work data such as dismantling procedures and methods.

Then, the image analysis information analyzed by the image analysis means 6 is read (step 2), and the search information is compared with the image analysis information (step 3).

The search information is information according to the standard, for example, information indicating that a predetermined member is located at a predetermined mounting portion together with three-dimensional position information, whereas image analysis information is obtained by the camera 12. The actual information obtained by analyzing the image information is, for example, information obtained by three-dimensionally analyzing the position of a certain member.

The three-dimensional position is determined by determining two predetermined portions of the product (for example, in the case of a motorcycle, the pivot of the rear fork), and determining numerical values for each member based on the determined three-dimensional positions. .

Next, in step 4, it is determined whether or not the state of the member maintains the standard state based on the maintenance rate of 60%. The drive control of the disassembly / separation work device 10 is performed. Step 4
If the state maintenance ratio falls below 60%, the flow advances to step 5 to correct the search information, and the drive control of the disassembling and sorting work apparatus 10 is performed based on the corrected information (step 6).

FIG. 3 shows an external view of the disassembly / separation work apparatus 10. The dismantling / separation controller 1 is disposed adjacent to the dismantling / separation work device 10, and the camera 12 is also provided. Two motorcycles 20 to be dismantled are horizontally supported on a horizontally long transfer table 21 and are vertically supported.

Five robot arms 22 are arranged on both sides along the transfer table 21, and two robot arms 22 on one side are equipped with a drill 23 at one end and another at the tip. Is equipped with a disc grinder 24.

The three robot arms 22 on the other side of the transfer table 21 are provided with a milling cutter 25 at one end thereof, and a robot hand 26 capable of holding a component at the other end thereof. , And a sorting box 27 is arranged behind these robot arms 22. Sorting box
27 is divided according to the material of the parts to be input.

When the motorcycle 20 is transported on the carrier 21 and stopped at the predetermined position shown in FIG. 2, the identification information of the motorcycle 20 is read from the ID card 11 and the material data of the motorcycle 20 is stored. The search means 3 searches the database 2 for work data, and based on the search information,
If necessary, the information processing means 4 first outputs a control signal to the required robot arm 22 in accordance with the disassembly procedure from the work data based on the correction information as described above. Start dismantling by driving.

The bolts and the like connecting the parts can be removed by cutting the heads of the bolts with a milling cutter 25. Next, the individual devices are disassembled as needed, and the parts that can be removed in this disassembly / disassembly process are removed by the robot hand 26 and put into the sorting box 27 according to the material of the parts. .

As described above, the disassembly / separation apparatus of the present embodiment automatically inputs the product identification information of the ID card 11 to the disassembly / separation controller 1, and then automatically performs disassembly / separation. Significantly reduced and no need for manual work in poor environments.

Also, the material of the parts can be finely classified, and the resin materials are PP, PE, AES, AB
Since the S system can be separated and collected, the regeneration can be performed easily, and the recycling efficiency can be improved.

As a modified example of the disassembling / sorting work apparatus 10, as shown in FIG. 4, a motorcycle 30 is mounted on a turntable 31 and supported. Around the turntable 31, a milling cutter 33 and a robot hand A robot arm 32 with 34 is arranged.

Motorcycle by rotation of turntable 31
The posture of the robot 30 with respect to the robot arm 32 can be changed, and the disassembling separation operation can be efficiently performed while appropriately performing normal rotation and reverse rotation.

In the example shown in FIG. 5, a support frame 41 surrounding a motorcycle 40 in a gate shape is provided, and a working machine 42 is movably mounted on the left and right vertical frames of the support frame 41 and the horizontal frame on the ceiling. ing.

For example, a working machine 42 attached to a vertical frame is provided with a milling cutter 43 and a robot hand 44 at the tip, and the working machine 42 itself can be moved up and down. Also, the work implement 42 attached to the horizontal frame is provided with a robot hand 45 at the lower end, and the work implement 42 itself can move left and right and can move up and down.

The support base 46 of the motorcycle 42 can be moved back and forth as appropriate, and after working at a predetermined front and rear position, is moved back and forth to perform the next work.

Since the robot hand 45 exists above,
The member can be removed upward, which is convenient for some types of products.

In the above embodiment, the product identification information is attached to the ID card 11 as a bar code and read by the bar code reader. However, a magnetic card may be used and read by the magnetic reader. Alternatively, a mark or the like may be optically read.

Further, the start key or the like of the motorcycle may be engraved and read. There is also a method in which a bar code or the like is described in the vehicle verification without having to create a separate card.

In this description, not only the disassembly and separation of the finished product but also individual equipment parts after disassembly can be provided as one product for disassembly and separation.

Therefore, it is conceivable to attach a part number or other information for identifying a product, for example, a bar code seal, etc., to a suitable hard-to-peel portion for each part.
It can also be identified by a stamp such as a part number.

The present invention is applicable not only to vehicles but also to most industrial products. Further, in the above embodiment, an example in which the automatic dismantling work machine 10 is controlled has been described. However, the information processing means of the dismantling separation controller 1 may be used as an image processing means to output necessary information to a monitor television. The disassembly and separation can be performed manually while viewing the information, which is useful where a large-scale automatic dismantling machine 10 cannot be installed.

Next, another embodiment shown in FIGS. 6 and 7 will be described. The present embodiment relates to a resin material separating and collecting apparatus of factory equipment, and FIG. 6 summarizes each process of the operation in the apparatus.

First, the type of resin of the resin component 51 is identified based on the information in the database 50 in an identification step 52. That is, in this embodiment, the resin component 51 is made of ABS, AES, P
P type, PE type, and other five types are identified.

The resin part 51 is crushed in a crushing step 53 and cut into appropriate small pieces. At this time, if an iron-based metal piece or the like is included, it is removed. Next, in a selective transporting step 54, the five types of resin parts 1 identified in the identifying step 52 are selectively transported to a dedicated crusher for each type.

Then, the crushed material is finely crushed in a crushing step 55 by each crusher, and a series of separation and collection operations are completed in a storage step 56 for storing in a dedicated storage tank. Crushing process 55
Fine iron-based metal is removed before being stored.

FIG. 7 is a schematic view of a resin material separating and collecting apparatus having the above steps.

First, a detection device 61 for detecting the type of resin in the identification process 52 and a crushing device 62 in the crushing process 53 are provided side by side, and a belt conveyor 63 extends rearward from the crushing device 62. Along the belt conveyor 63, five crushers 64 for the crushing step 55 are arranged. Storage tanks 66 corresponding to the storage step 56 are provided for the respective crushers 64 with a magnet 65 interposed therebetween.

In the middle of the belt conveyor 63, five shutters 67 are provided so as to be openable and closable to perform the selective conveying step 4. Each shutter 67 corresponds to each of the five crushers 64.

At the place where the resin component 61 is first carried in, the detecting device 61 is arranged such that the two belt conveyors 70 and 71 are arranged in a cascade, and the light is projected upward so that infrared light passes through the gap between the two. 72, a light receiver 73 is provided below.

Belt conveyors rotating in the same direction
Of 70, 71, resin parts on the upper belt conveyor 70
When the belt 51 is carried in, it is moved to the downstream belt conveyor 71 by the rotation of the belt conveyor 70, but when the resin component 51 passes between the two, it receives the infrared light of the projector 72 and the transmitted light is received. The light enters the light receiver 73, and the information of the transmitted light is input to the analyzer 74, where the absorption spectrum is analyzed by the analyzer 74, and the resin component
51 materials are determined.

From the downstream belt conveyor 71, a crushing device
The resin component 51 is transferred to the blade receiving plate 80 of 62. Blade support plate 80
A plurality of guillotine cutters 81 are provided above and below so as to freely move up and down, and lower and cut the resin component 51 on the blade receiving plate 80.

The resin part 51 divided and crushed into a plurality of pieces is an extruded plate.
It is transferred onto the belt conveyor 63 by the extrusion of 82. Although the resin component 1 is conveyed by the rotation of the belt conveyor 63, there is a place where a predetermined shutter 67 is closed on the way and comes into contact with the shutter 67.

Since the shutter 67 obstructs the line of the resin component 51 obliquely to the direction of conveyance by the belt conveyor 63, the contacted resin component 51 moves leftward along the shutter 67. Then, it is thrown into the opening of the crusher 64 whose opening is directed to the end of the belt conveyor 63.

The five shutters 67 are closed when the ABS, AES, PP, PE, and other resins are conveyed in order from the upstream side, and the other shutters are swung upward to be opened. It is in.

The control of the shutter 67 is performed at a predetermined timing based on the type of the resin material determined by the analysis of the analyzer 74 of the detection device 61. For example, if the resin component carried onto the belt conveyor 70 is of AES type, the analyzer 74 determines that the resin component is of AES type, the AES type resin component is crushed by the crushing device 62, and is transferred to the belt conveyor 63 and transported. Then, the second shutter 67 from the upstream side is swung downward and closed to block the path of the AES-based resin, and the AES-based resin component is supplied to the second pulverizer 64.

In the pulverizer 64, the resin part 1 is further finely pulverized and discharged to the storage tank 66. On the way, there is a magnet 65 at an upper part, and metals such as iron are absorbed and removed, and only the resin material is removed. Is charged into the storage tank 66.

The five storage tanks 66 have shutters
Similarly to the order of 67, ABS, AES, PP, PE, and other resins are accumulated in order from the upstream side in the transport direction of the belt conveyor 63. The other storage tanks 66 at the most downstream position contain resins other than the above four types, and resins, metals, and the like whose types could not be identified.

Since each storage tank 66 stores the crushed resin, the volume efficiency is extremely good, and the installation space can be reduced. Resins can be automatically separated and collected by type, and the value of reusing and reusing can be improved.

Next, an example in which the vehicle is provided with the present resin material separating and collecting apparatus will be described with reference to FIGS. 8 and 9. FIG. In the truck 100 of this embodiment, a separation and collection device is installed on a carrier 102 behind a driver's seat 101, and means for each step are the same as those in the above embodiment and have the same arrangement.

That is, a detecting device 111 and a crushing device 162 are provided side by side at the rear of the loading platform 102, and a belt conveyor 113 extends from the crushing device 112 to the front driver's seat 111.
Five crushers 114 are arranged along the belt conveyor 113, and storage tanks 116 are provided for the respective crushers 114 with magnets 115 interposed therebetween.

In the middle of the belt conveyor 113, five shutters 117 are provided so as to be openable and closable.
117 corresponds to the five crushers 114 respectively. Each device is the same as in the previous embodiment.
Swings upward and opens, where the resin parts are first loaded, and two belt conveyors 120 and 121 are arranged in a row,
A light emitter is provided above and a light receiver is provided below so that infrared light passes through the gap between the two.

The resin parts are transferred from the downstream belt conveyor 121 to the blade receiving plate 130 of the crushing device 112,
A plurality of guillotine cutters 131 are provided above and below the guillotine cutter 131 so as to be able to move up and down.

The resin parts which have been divided and crushed into a plurality of pieces are transferred onto a belt conveyor 113 by pushing out an extruding plate 82 driven by a hydraulic cylinder 133. The hydraulic cylinder 133 is driven and controlled by a hydraulic unit 134.

When the corresponding resin component is placed on the belt conveyor 113 when the corresponding shutter 117 is closed based on the type identification signal of the detection device 111, the shutter 117
The resin parts are introduced into the corresponding pulverizer 114 and pulverized, and then the ferrous metal is removed by the magnet 115 and stored in the corresponding storage tank 116.

The storage tank 116 is of a container type that can be removed from the vehicle body with the tank. When the storage tank 116 becomes full, the storage tank 116 can be removed from the loading platform 102 and the tank can be lowered to the treatment plant, and an empty tank can be placed instead for the next collection. In addition, the loading / unloading time can be reduced.

A level sensor is attached to each storage tank 116, and when it becomes full, a warning lamp or the like installed in a driver's seat, a loading section, or the like can notify a replacement time. The storage tank 116 is
It is installed collectively on one side of the, convenient for loading and unloading.

As described above, since the powder is crushed and transported in the vehicle, the transport efficiency is greatly improved. The resin can be collected around the place where the resin is generated, and in particular, can be collected from a dealer or the like that does not have a crusher.

Since the resin can be separated and recovered by type by the detection device 61, it is not necessary to separate the resin at the recycle site, and the added value as the recycle material is good because the recycle properties are good. Quality can be improved.

As the identification means, there is another means for determining the type by detecting irregularities on the surface of the resin, and the identification means may be used in combination with the above-mentioned infrared means. Further, a bar code indicating the type may be attached to the resin component in advance, and a bar code reader may be provided as identification means instead of the detection device 111 at the time of first carrying in.

If each of the storage tanks 116 is made of the same resin as the type in which the storage tanks 116 are accommodated, the tanks can be regenerated at the time of regeneration.

[0071]

[0072]

[0073]

[0074]

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of a control system of a demolition and sorting apparatus according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating a processing routine of an information processing unit of the apparatus.

FIG. 3 is an external view of the device.

FIG. 4 is an external view of a disassembly and separation work apparatus according to another embodiment.

FIG. 5 is an external view of a disassembly / separation work device according to still another embodiment.

FIG. 6 is a block diagram 1 showing each operation process of a resin separation and recovery apparatus according to another embodiment.

FIG. 7 is a sketch of the resin separating and collecting apparatus.

FIG. 8 is a schematic plan view of a vehicle provided with a resin separation and recovery device according to still another embodiment.

FIG. 9 is a sectional side view of the same.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Dismantling separation controller, 2 ... Database, 3 ... Search means, 4 ... Information processing means, 5 ... Barcode reader, 6
... image analysis means, 10: dismantling and sorting work equipment, 11 ... ID card, 12 ... camera, 20 ... motorcycle, 21 ... carriage, 22 ... robot arm, 23 ... drill, 24 ... disk grinder, 25 ... milling cutter, 26… Robot hand, 27…
Sorting box, 30 ... motorcycle, 31 ... turntable, 32 ... robot arm, 33 ... milling cutter, 34 ... robot hand, 40 ... motorcycle, 41 ... support frame, 42 ... working machine, 43 ... milling cutter, 44, 45… Robot hand,
46 ... Support. 50 ... Database, 51 ... Resin parts, 52 ... Identification process, 53 ... Crushing process, 54 ... Selection conveyance process, 55 ... Crushing process, 56 ... Storage process, 61 ... Detection device, 62 ... Crushing device, 63 ...
Belt conveyors, 64 crushers, 65 magnets, 66 storage tanks, 67 shutters, 70, 71 belt conveyors, 72 projectors, 73 receivers, 74 analyzers, 80 blade holders, 81 plates Guillotine cutter, 82: Extruded plate, 100: Truck, 101: Driver's seat, 102: Carrier, 103: Cover member, 114
… Crusher, 115… Magnet, 116… Storage tank, 117… Shutter, 120, 121… Belt conveyor,
130 ... blade receiving plate, 131 ... guillotine cutter, 132 ... extrusion plate, 133 ... hydraulic cylinder, 134 ... hydraulic unit.

────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A-6-168253 (JP, A) JP-A-5-345167 (JP, A) JP-A-4-367748 (JP, A) 165977 (JP, A) JP-A-6-226239 (JP, A) JP-A-6-2121301 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B09B 5/00 B07C 5 / 34

Claims (2)

(57) [Claims] Claims: 1. Accumulate information such as material and installation site for each product or part and work information of disassembly / separation procedure / method in a database, enter product identification information for identifying the product, and enter the entered product identification From the data bank based on the information
Search the disassembly separation information and obtain the image information of the product or part obtained by the image obtaining means.
Analyzing the information to obtain image analysis information, collating the disassembly classification information with the image analysis information, if necessary
If the modification information obtained by modifying the disassembly classification information is obtained , the product or the product based on the disassembly classification information or the modification information is obtained.
Is a disassembly separation method for dismantling and separating parts . Wherein said by referring to information of the data bank
The material of the disassembled and separated resin member is identified, the identified resin member is crushed by crushing means, and the crushed resin member is selectively conveyed for each same material by conveyance means, and is stored by storage means. It is characterized by being stored for each same material
The disassembly separation method according to claim 1 .