KR20240083903A - Pick-up fork unit and recycling garbage sorting device having the pick-up fork unit - Google Patents

Abstract

The present invention relates to a fixed frame; a plurality of link arms arranged radially about the center on the lower side of the fixed frame and selectively expanding and contracting; It is provided at the bottom of the plurality of link arms and includes a pickup module for picking up a target object, wherein the pickup module includes a pickup bracket to which lower ends of the link members are radially connected, and is provided at the center of the pickup bracket and toward the bottom. A pickup fork unit that penetrates and picks up the target object, and a vacuum suction unit provided on the lower side of the pickup bracket with the pickup fork unit at the center, and a plurality of vacuum suction members that vacuum suction the target object, A pickup fork that is equipped with a vacuum adsorption unit that picks up the target object through vacuum adsorption and a pickup fork unit that penetrates and picks up the target object, preventing the target object from leaving the pickup module due to gravity or inertia during pickup. A recycling waste sorting device equipped with a unit and its pick-up fork unit is provided.

Description

Pick-up fork unit and recycling garbage sorting device having the pick-up fork unit}

The present invention relates to a recycling waste sorting device that is provided on an automated line for sorting recycling waste and sorts target objects. More specifically, it relates to a pickup that picks up target objects at the bottom of a plurality of link arms arranged in a delta shape. It relates to a recycling waste sorting device that includes a module, and wherein the pickup module includes a pickup fork unit that penetrates and picks up the target object along with the vacuum adsorption unit by vacuum suctioning the target object so as to firmly pick up the target object.

Generally, mixed waste discharged from homes or factories is collected at a garbage collection point, and cans, bottles, plastics, etc. are selected as recyclables and recycled.

In order to increase the recycling efficiency of waste, it is important to sort and separate recyclable waste by type from the collected waste.

Previously, waste sorting was mostly done manually. When sorting waste manually, a worker stands next to the conveyor and sorts the mixed waste being transported according to type, material, size, color, etc.

This manual sorting method takes a long time, reduces work efficiency, and increases the burden of costs, including labor costs.

Recently, various automation systems have been introduced to automate the waste sorting process, but it is not easy to implement a system that automatically and accurately classifies recycled waste by type or material.

In addition, in order to increase sorting efficiency, lengthening the transport route for recycled waste or increasing the number of components installed for waste recognition and sorting, such as sensors or waste pickup means, reduces practicality due to excessive increase in equipment costs, so increasing sorting efficiency Continuous research and development is being conducted to simplify the structure of the system.

For this reason, as described in Publication Patent No. 10-2020-0085448 (July 15, 2020), an input unit for receiving recycled waste from the outside and injecting it into a predetermined location; a main conveyor that receives and transports recycled waste from the input unit; an optical analyzer disposed in the recycling waste transfer path of the main conveyor to detect the material of the recycling waste by irradiating light to the recycling waste transported by the main conveyor and receiving reflected light reflected from the recycling waste; It is located downstream of the optical analyzer on the recycling waste transfer path of the main conveyor and is spaced apart along the recycling waste transfer direction, and the main conveyor is installed so that recycled waste can be transferred in a direction that intersects the recycling waste transfer direction of the main conveyor. A plurality of sub-conveyors disposed above; a plurality of transport robots disposed in the recycling waste transfer path of the main conveyor to selectively pick up recycling waste transported by the main conveyor and transport it to the plurality of sub-conveyors; And a control unit that receives a detection signal from the optical analyzer and controls the plurality of transport robots according to the detection signal of the optical analyzer, wherein the control unit is configured to transmit the plurality of transport robots by the main conveyor. A recycling waste sorting device was provided that controls each of the plurality of transport robots so that recycling waste of the material detected by the optical analyzer can be selected and picked up among the recycling waste.

At this time, the transport robot vacuum-adsorbs the recycled waste transported by the main conveyor using the adsorption unit and transports it to each sub-conveyor.

However, when sorting cylindrical objects such as PET bottles, there was a problem in that they could not be properly picked up using only the adsorption unit.

The present invention is provided with a vacuum adsorption unit that picks up the target object by vacuum adsorption and a pickup fork unit that penetrates and picks up the target object, and can prevent the target object from leaving the pickup module due to gravity or inertia during pickup. The purpose is to provide a pickup fork unit and a recycling waste sorting device equipped with a pickup fork unit.

In the present invention, the pickup fork unit picks up the target object by penetrating it, and includes a fork holder forming a cylindrical space inside and an opening communicating with the inner space on the lower side; a pickup fork whose body is accommodated in an internal space of the fork holder through an opening of the fork holder, and a fork pin penetrating a target object is formed on a lower side of the body to protrude downward; a hook pin provided inside the pickup fork and selectively exposing a hook along a side of the fork pin; a first coil spring built into the inner space of the fork holder and elastically supporting the hook pin; and a second coil spring located around the first coil spring in the internal space of the fork holder and elastically supporting the pickup fork.

At this time, the hook pin according to the present invention is lowered by the elastic repulsion force of the first coil spring when the pickup fork rises due to the resistance force generated when the fork pin of the pickup fork penetrates the target object, thereby holding the hook. expose.

And the pickup fork unit according to the present invention includes a connection frame connected to the upper side of the fork holder, and an actuator provided on the upper side of the connection frame to selectively expand and contract the rod to raise and lower the pickup fork.

Here, the connection frame according to the present invention includes a load cell that senses the pressure generated when the fork pin of the pickup fork penetrates the target object, and expands and contracts the rod of the actuator with the pressure detected by the load cell.

A recycling waste sorting device equipped with a pickup fork unit according to the present invention includes a fixed frame; a plurality of link arms arranged radially about the center on the lower side of the fixed frame and selectively expanding and contracting; It is provided at the bottom of the plurality of link arms and includes a pickup module for picking up a target object, wherein the pickup module includes a pickup bracket to which lower ends of the link members are radially connected, and is provided at the center of the pickup bracket and toward the bottom. It includes a pickup fork unit that penetrates and picks up the target object, and a vacuum suction unit provided on the lower side of the pickup bracket with the pickup fork unit at the center and having a plurality of vacuum suction members that vacuum suction the target object.

At this time, each of the plurality of link arms according to the present invention includes an electric motor that selectively rotates the rotation axis clockwise or counterclockwise, and a rotation arm that is connected on one side to the rotation axis of the electric motor and rotates in conjunction with the rotation axis. , the upper end is connected to the other end of the rotary arm, and includes a link member that rotates in response to the rotation of the rotary arm.

In addition, the pickup fork unit according to the present invention is arranged vertically in the center of the pickup pedestal, and includes an actuator that selectively expands and contracts the rod, a connection frame whose upper side is connected to the lower end of the rod of the actuator, and a connection frame of the connection frame. A fork holder is connected to the lower side, forms a cylindrical space therein, and has an opening communicating with the inner space on the lower side, a body is received in the inner space of the fork holder through the opening of the fork holder, and the body is On the lower side, there is a pickup fork with a fork pin protruding downwardly that penetrates the target object, a hook pin provided inside the pickup fork and selectively exposing a hook along the side of the fork pin, and an internal space of the fork holder. It is built in and includes a first coil spring that elastically supports the hook pin, and a second coil spring that is located around the first coil spring in the internal space of the fork holder and elastically supports the pickup fork. do.

Here, the hook pin according to the present invention is lowered by the elastic repulsion force of the first coil spring when the pickup fork rises due to the resistance force generated when the fork pin of the pickup fork penetrates the target object, thereby holding the hook. expose.

And the connection frame according to the present invention includes a load cell that senses the pressure generated when the fork pin of the pickup fork penetrates the target object, and expands and contracts the rod of the actuator with the pressure detected by the load cell.

In addition, the vacuum adsorption unit according to the present invention includes a plurality of vacuum adsorption members for vacuum adsorption of the target object, a sun gear rotatably provided on the lower side of the pickup bracket by a bearing member, and the vacuum adsorption on the lower side of the sun gear. It includes a guide member that moves the member, and a drive motor that engages with the sun gear as a gear and selectively provides rotational force to the sun gear in a clockwise or counterclockwise direction.

The effect is achieved by the pickup fork unit and the recycling waste sorting device equipped with the pickup fork unit according to the present invention.

A vacuum adsorption unit that picks up the target object by vacuum adsorption and a pickup fork unit that penetrates and picks up the target object are provided together, so that the target object can be prevented from being separated from the pickup module due to gravity or inertia during pickup.

Figure 1 is an exemplary diagram showing a recycling waste sorting device according to an embodiment of the present invention.
Figure 2 is an exemplary diagram showing an example of the operating state of a link arm according to an embodiment of the present invention.
Figure 3 is an exemplary diagram showing a pickup module according to an embodiment of the present invention.
Figure 4 is an exemplary diagram showing a pickup fork unit of a pickup module according to an embodiment of the present invention.
Figure 5 is an exemplary diagram showing a vacuum adsorption unit of a pickup module according to an embodiment of the present invention.
Figure 6 is an exemplary diagram showing a flowing state of the vacuum adsorption member of the vacuum adsorption unit according to an embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings. Prior to this, the terms or words used in this specification and claims should not be construed as limited to their usual or dictionary meanings, and the inventor should appropriately define the concept of terms in order to explain his or her invention in the best way. Based on the principle of definability, it must be interpreted with meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and do not represent the entire technical idea of the present invention, so at the time of filing this application, they can be replaced by equivalent equivalents. It should be understood that variations may exist.

The present invention is a recycling waste sorting device that is provided on an automated line for sorting recycling waste and sorts target objects, comprising a pickup module for picking up target objects at the bottom of a plurality of link arms arranged in a delta shape, The pickup module relates to a recycling waste sorting device equipped with a pickup fork unit that penetrates and picks up the target object along with the vacuum adsorption unit by vacuum adsorption so that the target object can be firmly picked up. Refer to the drawings in detail. Looking at it, it is as follows.

The recycling waste sorting device according to an embodiment of the present invention with reference to FIGS. 1 to 6 includes a fixed frame 100, a plurality of link arms 200, and a pickup module 300. First, the fixed frame ( 100 is combined with a plurality of vertical frames 120 at the corners between the upper and lower plates 110 having a square area to form a hexahedral frame.

The fixed frame 100 may be installed and supported by a support on an automated recycling waste sorting line.

In addition, the upper side of the fixed frame 100 is supported by a pair of rails 101 spaced apart from each other, so that when repair of the recycling waste sorting device is required, it is easy to move along the rail 101 on the automated recycling waste sorting line. It is possible to escape.

And a plurality of link arms 200 are coupled to the lower side of the fixed frame 100. The plurality of link arms 200 are arranged radially about the center on the lower side of the fixed frame 100, and are optionally New construction.

At this time, it is preferable that the plurality of link arms 200 are coupled to each other at a certain distance from the fixed frame 100 by means of a spacing bracket (not shown).

And each of the plurality of link arms 200 consists of an electric motor 210, a rotating arm 220, and a link member 230. The electric motor 210 is provided so that its length is horizontal, and is optional. Rotate the rotation axis clockwise or counterclockwise.

One side of the rotary arm 220 is connected to the rotation axis of the electric motor 210, and the rotary arm 220 rotates in a vertical line in conjunction with the rotation axis of the electric motor 210.

Therefore, the rotary arm 220 may rotate upward or downward depending on the rotation direction of the rotation shaft of the electric motor 210.

The upper end of the link member 230 is connected to one side of the rotary arm 220 and the other side of the rotary arm 220, and the link member 230 corresponds to the rotation of the rotary arm 220. It rotates.

At this time, the link member 230 includes a pair of links 231 that are parallel to each other at a predetermined distance, and are provided on the upper and lower sides of the pair of links 231, respectively, so that the links 231 are elastically It includes a plurality of spring housings 232 that remain connected to other members.

The pair of links 231 are coupled on the left and right sides with the other side of the rotary arm 220 at the center, and are rotatably coupled to joints that protrude outward from the left and right sides of the rotary arm 220. .

Here, the spring housing 232 is provided on the coupling portion of the links 231 so that the length of the links and the length of the spring housing 232 are perpendicular to each other, and the pair of links is connected by elasticity generated from the spring housing. (231) is controlled to prevent it from leaving the joint of the rotary arm (220).

The recycling waste sorting device according to an embodiment of the present invention is preferably provided with a total of three link arms 200 so that it is composed of a delta robot, and the pick-up module ( 300) position (on the X-axis, Y-axis, and Z-axis) can be changed in various ways.

In addition, the pickup module 300 is provided at the bottom of the plurality of link arms 200 to pick up the target object.

Looking at the pickup module 300 according to an embodiment of the present invention in more detail, the pickup module 300 includes a pickup bracket 310, a pickup fork unit 320, and a vacuum adsorption unit 330. In the pickup bracket 310, the lower ends of the link members 230 are radially connected.

At this time, a pair of links 231 form a joint rotatably connected to the portion of the pickup bracket 310 to which the link member 230 is connected.

And the pickup fork unit 320 is provided at the center of the pickup bracket 310, and penetrates and picks up the target object at the bottom.

The pickup fork unit 320, referring to FIGS. 3 and 4, is disposed vertically in the center of the pickup bracket 310 and includes an actuator 321 that selectively expands and contracts the rod, and the rod of the actuator 321 It includes a connection frame 322 where the upper side is connected to the lower side.

At this time, the connection frame 323 is provided with a load cell 328, which detects the pressure generated when the fork pin 324b of the pickup fork 324 penetrates the target object, and detects the pressure. It is detected whether the fork pin 324b has penetrated the target object through the pressure value.

Additionally, the load of the actuator 321 can be selectively expanded or contracted using the pressure detected by the load cell 328.

Here, when the rod of the actuator 321 is extended, the fork pin 324b provides a pressing force to penetrate the target object, and when the rod of the actuator 321 is reduced, the fork pin (324b) penetrates the target object. 324b) can deviate from the target object.

A fork holder 323 is connected to the lower side of the connecting frame 323. The fork holder 323 forms a cylindrical space inside, and an opening communicating with the inner space is formed on the lower side.

A pickup fork 324 is received through the opening of the fork holder 323. The pickup fork 324 has a fork body 324a accommodated in the inner space of the fork holder 323, and the fork body 324a On the lower side, a fork pin 324b that penetrates the target object is formed to protrude downward.

At this time, the lower end of the fork pin (324b) is formed into a sharp awl so that it can penetrate the target object by pressing it, and the fork body (324a) of the fork holder (323) has a guide hollow so that the hook pin (325) can be embedded. , and a guide groove communicating with the guide hollow is formed on the side of the fork pin 324b along its length.

The hook pin 325 is provided inside the pickup fork 324, and the hook 325a is selectively exposed along the side of the fork pin 324b.

Here, a first coil spring 326 and a second coil spring 327 are built into the inner space of the fork holder 323, and the first coil spring 326 elastically supports the hook pin 325. And, the second coil spring 327 is located around the first coil spring 326 in the inner space of the fork holder 323 and elastically supports the pickup fork 324.

At this time, it is preferable that the elastic modulus of the first coil spring 326 is greater than the elastic modulus of the second coil spring 327.

Therefore, when the fork pin 324b of the pickup fork 324 penetrates the target object, continues to lower and touches the floor, the second spring with a relatively small elastic coefficient is compressed first due to the resistance force generated. The fork pin relatively rises, and the hook pin falls, exposing the hook pin to the lower side.

Here, the load cell 328 detects the pressure generated when the fork pin 324b of the pickup fork 324 penetrates the target object, and determines whether the target has penetrated according to the pressure detection position of the load cell 328. can do.

And the vacuum suction unit 330, referring to FIGS. 5 and 6, is provided on the lower side of the pickup bracket 310 with the pickup fork unit 320 at the center, and vacuum suctions the target object.

At this time, the vacuum adsorption unit 330 is provided with a plurality of vacuum adsorption members 331 for vacuum adsorption of the target object, preferably three vacuum adsorption members 331 radially centered around the pickup fork 324. are arranged.

In addition, the plurality of vacuum adsorption members 331 can selectively narrow or widen the gap between each other in response to the size of the target object. For this purpose, the pickup bracket 310 is rotatable by a bearing member on the lower side. It is provided with a sun gear 332 and a guide member 333 that moves the vacuum suction member 331 on the lower side of the sun gear 332.

At this time, the guide member 333 forms an arc shape and forms a guide long hole at the center, one side of the guide member 333 is rotatably connected to the lower side of the sun gear 332, and the guide long hole moves along the bearing member. A fixing pin is formed to protrude.

And it includes a drive motor 334 that engages with the sun gear 332 as a gear and selectively provides rotational force to the sun gear in a clockwise or counterclockwise direction.

Therefore, the rotational force generated from the drive motor 334 rotates the sun gear 332, and as the sun gear 332 rotates, one side of the guide member 333 moves in the rotation direction of the sun gear 332 and The vacuum adsorption members 331 can selectively narrow or widen the gap between each other in response to the size of the target object.

An example of operation of the recycling waste sorting device according to an embodiment of the present invention is as follows.

First, when the target object is selected, the pickup module 300 moves toward the target object by driving the link arm 200.

When the pickup module 300 is positioned on the target object by driving the link arm 200, the pickup module 300 descends toward the target object, and the vacuum adsorption unit 330 of the pickup module 300 Vacuum adsorbs the target object.

At this time, the pickup fork unit 320 of the pickup module 300 is also driven to penetrate the fork pin 324b into the target object to pick up the target object.

Here, when the fork pin 324b of the pickup fork 324 penetrates the target object, the pickup fork 324 rises due to the resistance force generated, and the first coil spring 326 and the second coil spring ( According to the difference in the elastic repulsion force of 327), the hook pin 325 is lowered to expose the hook 325a, allowing the hook 325a to hang on the inner surface of the target object.

Therefore, through the series of processes described above, the target object is firmly fixed to the pickup module 300 by the vacuum adsorption unit 330 and the pickup fork unit 320 of the pickup module 300.

In this way, the target object fixed to the pickup module 300 moves to the designated position by driving the link arm 200, and when the movement of the target object is completed, the actuator 321 reduces the rod to reach the target. As the hook pin 325 and fork pin 324b, which penetrate the object, rise and fall out of the target object, the vacuum is released from the vacuum adsorption member 331 of the vacuum adsorption unit 330, and the target object is moved to the designated location. Sorting is done by falling.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the attached patent claims.

100: fixed frame 101: rail
110: Flat plate 120: Vertical frame
200: Link arm 210: Electric motor
220: Rotating arm 230: Link member
231: Link 232: Spring housing
300: pickup module 310: pickup bracket
320: Pickup fork unit 321: Actuator
322: Connection frame 323: Fork holder
324: Pickup fork 324a: Fork body
324b: fork pin 325: hook pin
325a: Hook 326: First coil spring
327: second coil spring 328: load cell
330: Vacuum adsorption unit 331: Vacuum adsorption member
332: Sun gear 333: Guide member
334: Drive motor

Claims (10)

In the pickup fork unit that penetrates and picks up the target object,
A fork holder forming a cylindrical space inside and an opening communicating with the inner space on the lower side;
a pickup fork whose body is accommodated in an internal space of the fork holder through an opening of the fork holder, and a fork pin penetrating a target object is formed on a lower side of the body to protrude downward;
a hook pin provided inside the pickup fork and selectively exposing a hook along a side of the fork pin;
a first coil spring built into the inner space of the fork holder and elastically supporting the hook pin; and
A pickup fork unit including a second coil spring located around the first coil spring in the internal space of the fork holder and elastically supporting the pickup fork.
In claim 2,
The hook pin is
A pickup fork unit in which the pickup fork rises due to resistance generated when the fork pin of the pickup fork penetrates the target object, and then descends due to the elastic repulsion force of the first coil spring, exposing the hook.
In claim 1,
A connection frame connected to the upper side of the fork holder,
A pickup fork unit including an actuator provided on the upper side of the connection frame to selectively expand and contract a rod to raise and lower the pickup fork.
In claim 3,
In the connection frame,
It includes a load cell that detects the pressure generated when the fork pin of the pickup fork penetrates the target object,
A pickup fork unit that expands and contracts the rod of the actuator using the pressure detected by the load cell.
In the recycling waste sorting device, which is provided on an automated line for sorting recycling waste and sorts target objects,
fixed frame;
a plurality of link arms arranged radially about the center on the lower side of the fixed frame and selectively expanding and contracting;
It is provided at the bottom of the plurality of link arms and includes a pickup module for picking up a target object,
The pickup module is
A pickup bracket where the lower ends of the link members are radially connected,
A pickup fork unit provided at the center of the pickup bracket and picking up the target object by penetrating the bottom,
A recycling waste sorting device including a pickup fork unit, which is provided on a lower side of the pickup bracket with the pickup fork unit at the center and includes a vacuum adsorption unit with a plurality of vacuum adsorption members for vacuum adsorption of a target object.
In claim 5,
Each of the plurality of link arms is
An electric motor that selectively rotates the rotation shaft clockwise or counterclockwise,
A rotary arm that is connected on one side to the rotary shaft of the electric motor and rotates in conjunction with the rotary shaft,
A recycling waste sorting device including a pickup fork unit whose upper end is connected to the other end of the rotary arm and includes a link member that rotates in response to rotation of the rotary arm.
In claim 5,
The pickup fork unit is
An actuator disposed vertically in the center of the pickup bracket and selectively expanding and contracting the rod,
A connection frame whose upper side is connected to the lower end of the rod of the actuator,
A fork holder connected to the lower side of the connecting frame, forming a cylindrical space therein, and having an opening on the lower side communicating with the inner space;
A pickup fork with a body accommodated in the inner space of the fork holder through the opening of the fork holder and a fork pin penetrating the target object protruding downward from the lower side of the body;
a hook pin provided inside the pickup fork and selectively exposing a hook along a side of the fork pin;
a first coil spring built into the inner space of the fork holder and elastically supporting the hook pin;
A recycling waste sorting device provided with a pickup fork unit including a second coil spring located around the first coil spring in the inner space of the fork holder and elastically supporting the pickup fork.
In claim 7,
The hook pin is
When the fork pin of the pickup fork penetrates the target object, the pickup fork rises due to the resistance generated, and falls due to the elastic repulsion force of the first coil spring, exposing the hook. A recycling device equipped with a pickup fork unit Garbage sorting device.
In claim 8,
In the connection frame,
It includes a load cell that detects the pressure generated when the fork pin of the pickup fork penetrates the target object,
A recycling waste sorting device equipped with a pickup fork unit that expands and contracts the rod of the actuator using the pressure detected by the load cell.
In claim 6,
The vacuum adsorption unit is
A plurality of vacuum adsorption members for vacuum adsorption of the target object,
A sun gear rotatably provided on the lower side of the pickup bracket by a bearing member,
a guide member that moves the vacuum adsorption member on the lower side of the sun gear;
A recycling waste sorting device including a pickup fork unit that engages the sun gear with a gear and includes a drive motor that selectively provides rotational force to the sun gear in a clockwise or counterclockwise direction.

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