KR20230138788A - Intelligent recycled plastic sorting robot system - Google Patents

Abstract

The present invention provides a conveyor for transporting recycled plastic, each made of a number of materials that require sorting; A SWIR camera installed to acquire spectroscopic images of the recycled plastic transported by the conveyor; A sorting unit that sorts the recycled plastic from the spectral image obtained from the SWIR camera based on intensity according to the wavelength of light; A sorting Deltabot that grips and transports each of the recycled plastics; and a control unit that controls the sorting delta bot to transport the recycled plastic sorted by the sorting unit to a designated location for each type.
According to the present invention, the effectiveness of sorting recycled plastic can be increased by ensuring that various types of plastic are sorted accurately and quickly, thereby reducing the number of people and effort required to sort recycled plastic, and making it possible to reduce the number of people and effort required to sort recycled plastic. The transfer speed of each plastic can be increased for rapid collection of each plastic, which has the effect of increasing the sorting efficiency of recycled plastic.

Description

Intelligent recycled plastic sorting robot system}

The present invention relates to an intelligent recyclable plastic sorting robot system, and more specifically, to an intelligent recyclable plastic sorting robot system that can increase the effectiveness of sorting recycled plastic by accurately and quickly sorting various types of plastic. will be.

Generally, waste collected separately as recyclables is recycled after going through a process of sorting out recyclable items at a recycling sorting station.

In order to improve the high identification accuracy and speed of identification of recyclables, it is necessary to automate the work of the hand sorting process, and in accordance with these attempts, there are currently attempts to process recycling by combining various devices.

As a technology for identifying such recyclables, technology is being developed to sort heavy objects, plastic shapes, and vinyls through an air spray process, or to sort recyclables by material using other sorting devices.

As a conventional sorting technology for recycled plastics, the "Recycled Plastic Sorting System" in Korean Patent Publication No. 10-2009-0041921 has been proposed, which separately collects and transports medium and light materials to selectively collect recyclables collected at the collection site. collection/transportation means; A first sorting means for separating the recyclables of medium and light items transferred through the collection/transfer means into the same group; In the plastic sorting system including a second sorting means for separating plastics that cannot be visually sorted out of the same group selected through the first sorting means into respective materials, the second sorting means is equipped with a transfer conveyor. Base frame; a detector installed at the upper end of the base frame to sense the plastic transported along the transfer conveyor to determine the material of the plastic; It is installed on one side of the base frame and consists of a discharger that discharges plastic of a set material to be collected in a collection box according to a detection signal from the detector.

However, this prior art has limitations in sorting various types of plastics, so it has the problem of not being able to increase the effectiveness of sorting recycled plastics. In order to increase sorting efficiency, in order to separate by material, the speed at which each recycled plastic is transported must be adjusted. There was a problem with limitations in increasing the .

In order to solve the problems of the prior art as described above, the present invention increases the effectiveness of sorting recycled plastic by ensuring that various types of plastic are sorted accurately and quickly, thereby reducing the number of people required to sort recycled plastic. The purpose is to reduce the effort and increase the transport speed of each plastic for rapid collection of each sorted plastic, thereby increasing the sorting efficiency of recycled plastic.

Other objects of the present invention may be easily understood through the description of the examples below.

In order to achieve the above-described object, according to one aspect of the present invention, a conveyor for transporting recycled plastic each made of a plurality of materials requiring sorting; A SWIR camera installed to acquire spectroscopic images of the recycled plastic transported by the conveyor; A sorting unit that sorts the recycled plastic from the spectral image obtained from the SWIR camera based on intensity according to the wavelength of light; A sorting Deltabot that grips and transports each of the recycled plastics; and a control unit that controls the sorting delta bot to transport the recycled plastic sorted by the sorting unit to a designated location for each type. An intelligent recycled plastic sorting robot system is provided, including a.

The conveyor has a dark room in which the SWIR camera is installed at the front end, and the selection delta bot is fixed to a fixing plate provided at the top of a support frame extending upward from the conveyor at the rear end of the dark room to operate the conveyor. It can be installed facing.

The selection delta bot includes a base on which a fixing part is provided; A plurality of drive motors are arranged in a triangular shape on the base and provide rotational driving force to the drive shaft; Shoulder brackets fixed to rotate together with each of the drive shafts; Shoulder frames provided to extend outward from each of the shoulder brackets; Shoulder end brackets provided at each end of the shoulder frame; a pair of load arms that are ball-coupled on both sides of each shoulder end bracket and extend downwardly parallel to each other; an elastic unit that maintains a ball-coupled state for each shoulder end bracket by providing tension so that each of the pair of load arms is connected to each other; And a gripper that is ball-coupled on both sides of the bottom of each pair of load arms and maintains a ball-coupled state by the elastic unit, thereby connecting the three pairs of load arms to each other and gripping the recycled plastic with a vacuum. can do.

The gripper includes an arm bracket connected to a lower end of each of the load arms; A buffer portion installed at the bottom of the arm bracket and absorbing shock applied from below through elastic force; It is installed at the bottom of the buffer, and high-pressure air is supplied and discharged to generate a vacuum for vacuum adsorption of the sorted object through the inlet at the bottom, and to discharge foreign substances introduced during vacuum adsorption to the outside. Generating nozzle; and an elastic cup installed at the bottom of the vacuum generating nozzle, forming a hollow portion penetrating up and down to enable suction through the suction port of the vacuum generating nozzle, and deformable by upward and downward compression force. The buffer portion includes, A cylinder fixed to the lower surface of the arm bracket; A piston installed in the cylinder to enable elevation; a piston rod extending downward from the piston, drawn downward from the cylinder, and fixed to the vacuum generating nozzle; and a spring installed inside the cylinder to elastically support the piston to face downward.

The vacuum generating nozzle causes high-pressure air to be injected through the adsorption air inlet on the side and discharged through the first outlet at the top, thereby forming negative pressure at the suction port provided at the bottom, and through the release air inlet formed at the other side. a suction nozzle that releases negative pressure through the suction port when high-pressure air is injected; a suction and discharge chamber coupled to an upper part of the suction nozzle and allowing high-pressure air discharged from the first discharge port to be discharged through a second discharge port along with foreign substances sucked through the suction port; a buffer coupling portion provided at the upper end of the suction/discharge chamber to be coupled to the buffer portion; and a cup fixing part provided at the bottom of the suction nozzle to fix the elastic cup.

According to the intelligent recycled plastic sorting robot system according to the present invention, the effectiveness of sorting recycled plastic can be increased by ensuring that various types of plastic are sorted accurately and quickly, thereby reducing the number of people required to sort recycled plastic. Effort can be reduced and the transfer speed of each plastic for rapid collection of each sorted plastic can be increased, which has the effect of increasing the sorting efficiency of recycled plastic.

Figure 1 is a side view showing an intelligent recycling plastic sorting robot system according to an embodiment of the present invention.
Figure 2 is a configuration diagram showing an intelligent recycling plastic sorting robot system according to an embodiment of the present invention.
Figure 3 is a perspective view showing the appearance of an intelligent recycling plastic sorting robot system according to an embodiment of the present invention.
Figure 4 is a perspective view showing a sorting deltabot in an intelligent recycling plastic sorting robot system according to an embodiment of the present invention.
Figure 5 is a cross-sectional view showing an elastic unit in an intelligent recycling plastic sorting robot system according to an embodiment of the present invention.
Figure 6 is a perspective view showing the gripper of the sorting deltabot in the intelligent recycling plastic sorting robot system according to an embodiment of the present invention.
Figure 7 is a front cross-sectional view showing the gripper of the sorting deltabot in the intelligent recycling plastic sorting robot system according to an embodiment of the present invention.
8 to 10 are graphs of light intensity by light wavelength according to recycled plastic material obtained from a spectroscopic image of @ according to an embodiment of the present invention.
11 and 12 are graphs of optical waveforms of products made of similar materials @ according to an embodiment of the present invention.

Since the present invention can be subject to various changes and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, but should be understood to include all changes, equivalents, and substitutes included in the technical idea and scope of the present invention, and may be modified into various other forms. The scope of the present invention is not limited to the following examples.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings, and identical or corresponding components will be assigned the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted.

Figure 1 is a side view showing an intelligent recycling plastic sorting robot system according to an embodiment of the present invention, Figure 2 is a configuration diagram showing an intelligent recycled plastic sorting robot system according to an embodiment of the present invention, and Figure 3 is a This is a perspective view showing the exterior of an intelligent recycling plastic sorting robot system according to an embodiment of the present invention.

1 to 3, the intelligent recycling plastic sorting robot system 10 according to an embodiment of the present invention includes a conveyor 300, a short wave infrared (SWIR) camera 400, a sorting unit 510, and a control unit. It may include (520) and selection delta bot (100).

The conveyor 300 transports recycled plastics that are input to the upper surface manually, through a hopper, or through a separate input device, along a path to be sorted. The conveyor 300 may be installed to be spaced apart from the ground at a predetermined height by the support 310.

The conveyor 300 may have a dark room 410 installed at the front end where a SWIR camera 400 is installed. Here, the dark room 410 may be installed by a plurality of supports 420 to be supported at a distance from the ground.

The SWIR camera 400 is installed to acquire spectroscopic images of recycled plastic transported by the conveyor 300. The SWIR camera 400 solves the problem that the same color and different materials cannot be distinguished by the human eye. For example, the waveform measured in SWIR can be analyzed by using a camera and lens capable of measuring the SWIR 1,700 ~ 2,500 nm range. In order to obtain a spectral image, a light source may be provided to irradiate light to the measurement object. A halogen lamp may be used as the light source.

The sorting unit 510 sorts recycled plastics from the spectroscopic image obtained from the SWIR camera 400 according to the intensity according to the wavelength of light. That is, as shown in FIGS. 8 to 10, the sorting unit 510 allows sorting to be performed through different intensities according to the wavelength of light for each material of the recycled plastic, for example, polytetrafluoroethylene (PTFE), polyethylene terephthalate (PET), Examples of PE (Polyethylene), PP (Polypropylene), and POM (Polyoxymethylene, Acetal) are shown, but are not necessarily limited to these. Therefore, as shown in FIGS. 11 and 12, the sorting unit 510 uses differences in light waveforms of plastics of similar materials to enable sorting of recycled plastics by material.

Referring to FIG. 4, the sorting deltabot 100 grips and transports each recycled plastic, and as in this embodiment, a support frame 180 extends upward from the conveyor 300 at the rear end of the dark room 410. ) may be fixed to the fixing plate 181 provided at the top and installed to face the conveyor 300, for example, the base 110, the drive motor 120, the shoulder bracket 130, the shoulder frame 140, It may include a shoulder end bracket 150, a load arm 160, an elastic unit 170, and a gripper 180.

The base 110 is provided with a fixing part 115 to be fixed to the installation surface. The base 110 may have a double-layer structure to prevent vibration, and for this purpose and a sturdy structure, for example, an upper base plate 111 on which a fixing part 115 is provided on the upper side, and an upper base plate ( The lower base plate 112 is arranged side by side on the lower side of 111, and is installed between the upper base plate 111 and the lower base plate 112, a plurality of them are arranged in a triangular shape, and each of the drive motors 120 It may include a motor mount 113 mounted to protrude a drive shaft (not shown), and a spacer 114 installed to maintain a gap between the upper base plate 111 and the lower base plate 112. The motor mount 113 is a hexahedral structure with one side open, so that the drive motor 120 inserted through the open side is fixed by bolting, etc., and the drive shaft can be protruded through an opening formed on the opposite side of the open side. A plurality of spacers 114 may be installed between the upper base plate 111 and the lower base plate 112, and both ends may be fixed to the upper base plate 111 and lower base plate 112 with bolts, respectively. there is.

A plurality of drive motors 120 are arranged in a triangular shape on the base 110 and provide rotational driving force to a drive shaft (not shown). The drive motor 120 can be installed directly on the base 110, but is not limited to this and can be installed on the base 110 using a motor housing, directly rotating the drive shaft, or using a reducer or multiple gears. It may be configured to rotate the drive shaft using. The drive motor 120 may be a servo motor or step motor capable of controlling the rotation amount to control the position of the load arm 160.

The shoulder bracket 130 is fixed to rotate together with each drive shaft, and a power lock (not shown) may be used for this purpose. The power lock is interposed between the drive shaft and the shoulder bracket 130 surrounding the drive shaft, and fixes the drive shaft to the inside of the shoulder bracket 130 by tightening the adjustment bolt.

The shoulder frame 140 is provided to extend outward from each of the shoulder brackets 130, and is manufactured to be integrated with the shoulder bracket 130, or can be fixed to the shoulder bracket 130 through various fixing methods such as bolting, screwing, or tightening. It can be fixed by .

The shoulder end bracket 150 is provided at each end of the shoulder frame 140, and is manufactured to be integrated with the shoulder frame 140, or can be fixed to the shoulder frame 140 through various fixing methods such as bolting, screwing, or tightening. can be fixed by The shoulder end bracket 150 may be provided with ball joints 151 having a ball structure on both sides for ball coupling with the load arm 160.

The load arms 160 are made up of a pair so that they are ball-coupled on both sides of each shoulder end bracket 150, and are provided to extend downward in parallel with each other. The load arm 160 may be provided with an upper ball housing 161 at the top for ball coupling with the ball joint 151 of the shoulder end bracket 150, and a ball joint of the bottom bracket 180, which will be described later, at the bottom. A lower ball housing 162 may be provided for ball coupling with (181).

The elastic unit 170 is hinged so that each pair of load arms 160 are connected to each other to provide tension, thereby maintaining the ball-coupled state for each shoulder end bracket 150 and each pair of load arms 160. They are installed at the top and bottom, respectively, and may be made of spring sticks, for example, as in this embodiment.

Referring to Figures 4 and 5, the elastic unit 170 is hinged to one of a pair of rod arms 160 and includes a tension guide bracket 171 provided with a guide rod 171c extending to one side. , a spring housing 172 in which the tension guide bracket 171 is slidably inserted through the guide rod 171c, and a spring inserted into the guide rod 171c, one end of which is elastically supported on the inside of the spring housing 172. (173), a spring retainer 174 that is screwed to the end of the guide rod 171c to elastically support the other end of the spring 173, and is screwed to the end of the spring housing 172, and is a pair of rods It may include a tension adjustment bracket 175 that is hinged to the other one of the arms 160.

The tension guide bracket (171) has a U-shape and is inserted into the outside of any one of the rod arms (160), using the hinge shaft bolt (171a) through the hinge coupling holes (171b) at both ends. It can be hinged to either one, and a female thread portion (171d) can be provided at the end. The spring housing 172 may have a locking portion 172a formed around an opening 172c into which the guide rod 171c is inserted so that one end of the spring 173 is supported on the inside, and a female thread at the end on the opposite side. (171b) can be formed. The spring retainer 174 may have a male thread portion 174a formed to be screwed to the female thread portion 171d at the end of the guide rod 171c, and the spring 173 may be elastically supported between the locking portion 172a. This allows the guide rod 171c to have a restoring force in the direction in which it is inserted into the spring housing 172, and thus allows tension to act in the direction in which the pair of rod arms 160 approach each other. there is. The tension adjustment bracket 175 has a U-shape and is inserted into the outside of the other one of the rod arms 160, using the hinge shaft bolt 175a through the hinge coupling holes 175b at both ends. It may be hinged to the other, and the male threaded portion 175c may be screwed to the female threaded portion 172b of the spring housing 172. In addition, the tension adjustment bracket 175 can adjust the tension acting between the pair of load arms 160 by adjusting the degree to which it protrudes from the spring housing 172 according to the rotation direction and number of rotations, thereby The ball coupling force between the shoulder end bracket (150) and the rod arm (160) and the ball coupling force between the rod arm (160) and the bottom bracket (180) can be adjusted.

Referring to FIGS. 4, 6, and 7, the gripper 200 may include an arm bracket 210, a shock absorber 220, a vacuum generating nozzle 230, and an elastic cup 240.

The arm bracket 210 is connected to the bottom of each of the three load arms 160 provided in the Delta Bot. For this purpose, the hinge coupling portion 211 to be hinged to the end of the load arm 160 is triangular in shape. It can be arranged to be arranged as.

The buffer unit 220 is installed at the bottom of the arm bracket 210 and absorbs shock applied from below through elastic force. For example, as in the present embodiment, the buffer unit 220 includes a cylinder 222 fixed to the lower surface of the arm bracket 210, a piston 223 installed to enable elevation on the cylinder 222, and a lower side from the piston 223. A piston rod 224 that extends downward from the cylinder 222 and is fixed to the vacuum generating nozzle 230, and is installed inside the cylinder 222 to elastically support the piston 223 to face downward. It may include a spring 225. The cylinder 222 has a flange so that the flange can be coupled to the lower surface of the arm bracket 210 via the coupling plate 221 by bolting. By using this buffer unit 220, the shock applied upward from the piston rod 224 is transmitted to the spring 225 through the piston 223, thereby providing a buffering effect.

The vacuum generating nozzle 230 is installed at the bottom of the buffer unit 220, and high-pressure air is supplied and discharged to generate a vacuum for vacuum adsorption of the sorting object through the suction port 231e at the bottom. Make sure to discharge foreign substances that come in during adsorption to the outside. This vacuum generation nozzle 230 may have a structure that uses the principle of vacuum generation in which negative pressure is generated in the orifice when an orifice is formed in the path through which high-pressure air passes. Here, the path through which high-pressure air passes may mean a passage from the adsorption air inlet (231a) side to the first outlet (231d), and an orifice may be formed in the suction port (231e).

The vacuum generating nozzle 230 may include, for example, a suction nozzle 231, a suction discharge chamber 232, a buffer coupling portion 233, and a cup fixing portion 234, as in this embodiment.

The suction nozzle 231 allows high-pressure air to be injected through the adsorption air inlet 231a on the side and discharged through the first outlet 231d at the top, thereby forming negative pressure at the suction port 231e provided at the bottom. When high-pressure air is injected through the release air inlet (231b) formed on the other side, negative pressure through the inlet (231e) can be released. Accordingly, high-pressure air injected through an external high-pressure air supply unit, for example, an air compressor, moves toward the first outlet (231d) through the adsorption air inlet (231a), forming a negative pressure at the intake port (231e). Therefore, vacuum adsorption of recycled plastic is possible through the suction port 231e. And, when high-pressure air is supplied through the release air inlet (231b), the flow of air moving from the adsorption air inlet (231a) to the first outlet (231d) is temporarily interrupted, causing negative pressure on the inlet (231e) side. It is weakened or released, thereby allowing the recycled plastic adsorbed to the suction port 231e to be separated. Fittings (not shown) may be provided on the adsorption air inlet 231a and the release air inlet 231b so that a line for high-pressure air supply can be connected. The suction nozzle 231 may be provided with a coupling portion 231c at the top for bolting to the suction and discharge chamber 232.

The suction and discharge chamber 232 is coupled to the upper part of the suction nozzle 231, and the high-pressure air discharged from the first discharge port (231d) passes through the second discharge port (232a) along with foreign substances sucked through the suction port (231e). Allow it to be discharged. Here, a fitting part (not shown) may be provided on the second outlet 232a side to connect the discharge line 3, which provides an discharge path for air and foreign substances. Additionally, foreign matter contained in the air discharged through the discharge line 3 may be configured to be separated from the air through its own weight or filtering. The suction and discharge chamber 232 may accommodate the first discharge port (231d) of the suction nozzle 31 inside, and the second discharge port (232a) may be formed on the side.

The buffer coupling portion 233 may be provided to be coupled to the buffer portion 220 at the top of the suction and discharge chamber 232. For this purpose, it is fixed to the bottom of the piston rod 224 by interference fitting, screwing, or bolting. It may have a load coupling structure for

The cup fixing part 234 is provided at the bottom of the suction nozzle 231 to fix the elastic cup 240. The cup fixing portion 234 may be made of a locking protrusion that protrudes along the outer circumferential surface so that the upper end of the elastic cup 240 is inserted and locked inside.

The elastic cup 240 is installed at the bottom of the vacuum generation nozzle 230, and forms a hollow part 242 penetrating upward and downward to enable suction through the suction port 231e of the vacuum generation nozzle 230, and has a vertical compression force. It makes transformation possible.

For example, the elastic cup 240 may be formed with a fitting portion 241 so as to be inserted into and caught at the bottom of the vacuum generation nozzle 230, specifically the bottom of the suction nozzle 231. The hollow portion 242 may be formed to penetrate upward and downward to provide a suction passage, and may be made of an elastic material such as silicone, rubber, elastic synthetic resin, etc., and a wrinkle portion 243 for vertical expansion may be formed. there is.

The control unit 520 controls the sorting delta bot 100 to transport the recycled plastic sorted by the sorting unit 510 to a designated location for each type. To this end, the sorting takes into account the moving speed of the sorted recycled plastic. The operation of each drive motor 120 of the sorting Delta bot 100 is controlled so that the delta bot 100 can accurately grip the sorted plastic at the calculated position. To this end, the control unit 520 may perform a process to dynamically track the selected recycled plastic according to its movement speed.

According to the intelligent recycled plastic sorting robot system according to the present invention, the effectiveness of sorting recycled plastic can be increased by ensuring that various types of plastic are sorted accurately and quickly, and this reduces the amount of time required for sorting recycled plastic. Personnel and effort can be reduced.

In addition, according to the present invention, the transport speed of each plastic for rapid collection of each sorted plastic can be increased, thereby improving the sorting efficiency of recycled plastic.

Although the present invention has been described with reference to the accompanying drawings, it goes without saying that various modifications and variations can be made without departing from the technical spirit of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the claims described below as well as equivalents to these claims.

100: Select delta bot 110: Base
111: upper base plate 112: lower base plate
113: motor mount 114: spacer
115: fixing part 120: driving motor
130: Shoulder bracket 140: Shoulder frame
150: Shoulder end bracket 151: Ball joint
160: Load arm 161: Upper ball housing
162: Lower ball housing 170: Elastic unit
171: Tension guide bracket 171a: Hinge axis bolt
171b: Hinge coupling hole 171c: Guide rod
171d: female thread 172: spring housing
172a: Locking portion 172b: Female thread portion
172c: opening 173: spring
174: Spring retainer 174a: Male thread part
175: Tension adjustment bracket 175a: Hinge axis bolt
175b: Hinge coupling hole 175c: Male thread part
180: support frame 181: fixing plate
200: Gripper 210: Arm bracket
220: buffer part 221: coupling plate
222: cylinder 223: piston
224: piston rod 225: spring
230: Vacuum generation nozzle 231: Suction nozzle
231a: Adsorption air inlet 231b: Release air inlet
231c: coupling portion 231d: first outlet
231e: suction port 232: suction discharge chamber
232a: second outlet 233: buffer coupling part
234: Cup fixer 240: Expandable cup
241: fitting part 242: hollow part
243: wrinkle part 300: conveyor
310: Support 400: SWIR camera
410: Darkroom 420: Support
510: Sorting unit 520: Control unit

Claims (5)

A conveyor that transports recycled plastic, each made of a number of materials that require sorting;
A SWIR camera installed to acquire spectroscopic images of the recycled plastic transported by the conveyor;
A sorting unit that sorts the recycled plastic from the spectral image obtained from the SWIR camera based on intensity according to the wavelength of light;
A sorting Deltabot that grips and transports each of the recycled plastics; and
a control unit that controls the sorting delta bot to transport the recycled plastic sorted by the sorting unit to a designated location for each type;
Including, an intelligent recycling plastic sorting robot system. In claim 1,
The conveyor,
A dark room where the SWIR camera is installed is installed at the front end,
The selection delta bot is,
An intelligent recycled plastic sorting robot system that is fixed to a fixing plate provided on the top of a support frame extending upward from the conveyor at the rear end of the dark room and installed to face the conveyor. In claim 1 or claim 2,
The selection delta bot is,
A base on which a fixing part is provided;
A plurality of drive motors are arranged in a triangular shape on the base and provide rotational driving force to the drive shaft;
Shoulder brackets fixed to rotate together with each of the drive shafts;
Shoulder frames provided to extend outward from each of the shoulder brackets;
Shoulder end brackets provided at each end of the shoulder frame;
a pair of load arms that are ball-coupled on both sides of each shoulder end bracket and extend downwardly parallel to each other;
an elastic unit that maintains a ball-coupled state for each shoulder end bracket by providing tension so that each of the pair of load arms is connected to each other; and
A gripper that is ball-coupled on both sides of the bottom of each pair of load arms and maintains a ball-coupled state by the elastic unit to connect the three pairs of load arms to each other and grips the recycled plastic with a vacuum;
Including, an intelligent recycling plastic sorting robot system. In claim 3,
The gripper is,
an arm bracket connected to the lower end of each of the load arms;
A buffer portion installed at the bottom of the arm bracket and absorbing shock applied from below through elastic force;
It is installed at the bottom of the buffer, and high-pressure air is supplied and discharged to generate a vacuum for vacuum adsorption of the sorted object through the inlet at the bottom, and to discharge foreign substances introduced during vacuum adsorption to the outside. Generating nozzle; and
An elastic cup is installed at the bottom of the vacuum generating nozzle, forms a hollow portion penetrating up and down to enable suction through the suction port of the vacuum generating nozzle, and is deformable by upward and downward compression force;
The buffer part,
A cylinder fixed to the lower surface of the arm bracket;
A piston installed in the cylinder to enable elevation;
a piston rod extending downward from the piston, drawn downward from the cylinder, and fixed to the vacuum generating nozzle; and
a spring installed inside the cylinder to elastically support the piston to face downward;
Including, an intelligent recycling plastic sorting robot system. In claim 4,
The vacuum generating nozzle is,
High-pressure air is injected through the adsorption air inlet on the side and discharged through the first outlet at the top, creating negative pressure at the inlet provided at the bottom, and high-pressure air is injected through the release air inlet formed on the other side. a suction nozzle that releases negative pressure through the suction port;
a suction and discharge chamber coupled to an upper part of the suction nozzle and allowing high-pressure air discharged from the first discharge port to be discharged through a second discharge port along with foreign substances sucked through the suction port;
a buffer coupling portion provided at the upper end of the suction/discharge chamber to be coupled to the buffer portion; and
A cup fixing part provided at the bottom of the suction nozzle to fix the elastic cup;
Including, an intelligent recycling plastic sorting robot system.

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