WO2022049676A1

WO2022049676A1 - Foreign matter removal device

Info

Publication number: WO2022049676A1
Application number: PCT/JP2020/033299
Authority: WO
Inventors: 弘規近藤
Original assignee: 株式会社Fuji
Priority date: 2020-09-02
Filing date: 2020-09-02
Publication date: 2022-03-10
Also published as: JPWO2022049676A1

Abstract

A foreign matter removal device 10 comprises: a conveying device which has a conveying surface for conveying waste material 4 and side walls provided on both sides of the conveying surface; a conveying line 22 in which a plurality of the conveying devices are arranged along the direction D for conveying the waste material 4; a camera 14 for detecting foreign matter 2 contained in the waste material 4 conveyed by the conveying line 22; a robot hand 15 which is provided on the downstream side of the camera 14 in the conveying direction and removes the foreign matter 2 detected by the camera 14 from the conveying line 22; and a control device for changing a conveyance state of a conveying device located on the downstream side of a camera 12 in the conveying direction D in accordance with the amount of foreign matter 2 detected by the camera 14 during conveyance.

Description

Foreign matter remover

This specification discloses a foreign matter removing device.

Conventionally, there is known a recycling system in which a mixture of a mixture of foreign substances to be recycled and a foreign substance not to be recycled is transported by a transport device such as a conveyor, and the foreign substances to be recycled are separated and the foreign substances are removed. For example, Non-Patent Document 1 discloses a recycling system in which a mixture of an object and a foreign substance is conveyed by a conveyor and a robot hand is used to remove the foreign substance from the conveyor.

However, in the recycling system disclosed in Non-Patent Document 1, if the amount of foreign matter to be transported increases temporarily, it may not be possible to completely remove all the foreign matter with the robot hand.

The present disclosure has been made to solve such a problem, and the main purpose is to enable the robot hand to appropriately remove the foreign matter according to the amount of the detected foreign matter.

The foreign matter removing device of the present disclosure is
A transport device having a transport surface for transporting waste materials and side walls provided on both sides of the transport surface, and a transport device.
A transport line in which a plurality of the transport devices are arranged along the transport direction of the waste material, and a transport line.
A detection unit that detects foreign matter contained in the waste material transported by the transport line, and
A robot hand provided on the downstream side in the transport direction from the detection unit and removing the foreign matter detected by the detection unit from the transport line.
A control device that changes the transport state of the transport device located downstream of the detection unit in the transport direction according to the amount of the foreign matter detected by the detection unit during transport.
It is equipped with.

In this foreign matter removing device, the transporting state of the transporting device located on the downstream side in the transporting direction from the detecting unit is changed according to the amount of foreign matter detected by the detecting unit during transportation. Therefore, the transport state of the transport device can be changed so that the robot hand can appropriately remove the foreign matter according to the amount of the foreign matter contained in the waste material.

Explanatory drawing which shows the structure of the recycling system 1. The perspective view which shows the schematic structure of the foreign matter removing apparatus 10. The side view which shows the schematic structure of the foreign matter removing apparatus 10. The plan view which shows the schematic structure of the foreign matter removing apparatus 10. The perspective view which shows the schematic structure of the robot hand 15. The figure which shows the electrical connection relation of the foreign matter removing apparatus 10. A flowchart showing an example of a transport status setting routine. The figure which shows the transport state management data 81. The perspective view which shows the schematic structure of the foreign matter removing apparatus 110.

Next, the mode for carrying out the present disclosure will be described with reference to the drawings. 1 is an explanatory view showing the configuration of the recycling system 1, FIG. 2 is a perspective view showing the schematic configuration of the foreign matter removing device 10, FIG. 3 is a side view showing the schematic configuration of the foreign matter removing device 10, and FIG. 4 is a foreign matter removing device 10. 5 is a plan view showing a schematic configuration of the above, FIG. 5 is a perspective view showing a schematic configuration of a robot hand 15, and FIG. 6 is an explanatory view showing an electrical connection relationship of the foreign matter removing device 10. In this embodiment, the left-right direction, the front-back direction, and the up-down direction are as shown in FIGS. 1 to 4 (in FIGS. 1 and 3, the front-back direction is the direction perpendicular to the paper surface, and in FIG. 4, the up-down direction is the paper surface. Vertical to). Further, in the present embodiment, the direction in which the waste material 2 is conveyed is referred to as a transfer direction D.

The waste material 2 processed by the recycling system 1 is a mixture of an object 3 to be recycled such as stone, sand and concrete and a foreign substance 4 such as paper, resin, wood and metal.

As shown in FIG. 1, the recycling system 1 includes primary and

secondary crushers

11a and 11b, primary and secondary magnetic separators 12a and 12b, a screen machine 13, transport lines 20 to 25, and foreign matter removal. The device 10 is provided.

The primary crusher 11a is a device for primary crushing the waste material 2 which is a raw material. The primary crusher 11a crushes the waste material 2 so as to have a predetermined primary size or less (for example, 40 cm or less). The primary magnetic separator 12a is a device that removes foreign substances in the magnetic material contained in the waste material 2 by magnetic force. The screen machine 13 is, for example, a device that separates the waste material 2 having a primary size or larger and the waste material 2 having a primary size or less by passing the waste material 2 over the mesh. The secondary crusher 11b is a device for secondary crushing the waste material 2 to a size smaller than that of the primary crusher 11a. The secondary crusher 11b crushes the waste material 2 so as to have a predetermined secondary size or less (for example, 10 cm or less). The secondary magnetic separator 12b is a device that removes the magnetic material that could not be completely removed by the primary magnetic separator 12a and the robot hand 15 from the waste material 2.

The transport lines 20 to 25 are devices for placing the waste material 2 on the transport surface and transporting the waste material 2 along the transport direction D, and are configured as, for example, a belt conveyor. The transport lines 20 to 25 may have a configuration other than the belt conveyor as long as they transport the waste material 2.

As shown in FIGS. 2 and 4, the foreign matter removing device 10 includes a transfer line 22, a camera 14, a robot hand 15, a moving device 35, a vibration generating device 36, and a control device 80 (see FIG. 6). To prepare for. As shown in FIGS. 2 to 4, the transport line 22 includes first and

second transport devices

22a and 22b. The first and

second transport devices

22a and 22b are arranged in this order along the transport direction D.

The first transport device 22a is a transport device that transports the waste material 2. The first transport device 22a includes a transport surface 30 and

side walls

31a and 31b provided on both sides of the transport surface 30. In the first transport device 22a, the distance between the

side walls

31a and 31b, that is, the transport width when transporting the waste material 2 is a constant width W1. The first transport device 22a places the waste material 2 on the transport surface 30 and transports the waste material 2 at a constant transport speed (for example, 40 [m / min]).

The second transport device 22b is a transport device that transports the waste material 2 in the same manner as the first transport device 22a. The second transport device 22b is arranged side by side with the first transport device 22a on the downstream side in the transport direction D from the camera 14. The second transport device 22b includes a transport surface 32,

side walls

33a and 33b provided on both sides of the transport surface 32, and a drive motor 60 (see FIG. 6). In the second transport device 22b, the distance between the

side walls

33a and 33b, that is, the transport width when transporting the waste material 2 can be changed in the range of W1 to W2. Therefore, the width of the transport surface 32 is set to the width W2 or more. In the second transport device 22b, the side wall 33a is fixed in a state of being connected to the side wall 31a of the first transport device 22a, but the side wall 33b is movable with respect to the side wall 31a. The second transfer device 22b places the waste material 2 on the transfer surface 32 and conveys it at a variable speed. In the second transfer device 22b, the transfer speed can be changed, for example, between 20 [m / min] and 40 [m / min] by controlling the drive motor 60 (see FIG. 6). The telescopic member 34 has a stretchable bellows, and its length can be changed. When the transport width of the second transport device 22b is expanded, the elastic member 34 is stretched to increase its length, and when the transport width is reduced, the bellows is folded to shorten its length. ..

The camera 14 is a device that captures a color image of the waste material 2 that is mounted and transported on the transport surface 32 of the first transport device 22a. As shown in FIGS. 2 to 4, the camera 14 is held above the transport surface 30 of the first transport device 22a by a camera holding member 16 provided so as to straddle the first transport device 22a in the front-rear direction. .. The camera 14 captures images of the waste material 2 from above the transport surface 30 of the first transport device 22a at regular intervals, and outputs image data to the control device 80 (see FIG. 6).

The robot hand 15 is a device that removes foreign matter 4 from the transport surface 32 of the second transport device 22b. As shown in FIGS. 2 to 4, the robot hand 15 is provided on the downstream side of the camera 14 in the transport direction D and on the outside of the side wall 33b (in front of the side wall 33b). As shown in FIG. 5, the robot hand 15 includes a first arm 40, a second arm 42, a support portion 44, a pedestal portion 47, a tip portion 50, and a control unit 70 (see FIG. 6). .. The first arm 40 is a longitudinal member provided with a tip portion 50. The first arm 40 includes a first driving unit 41 that rotationally drives the tip portion 50 inside the first arm 40. The second arm 42 is a longitudinal member provided with the first arm 40. A second drive unit 43 for rotationally driving the first arm 40 is provided on the tip end side of the second arm 42. The support portion 44 is a box-shaped member including the second arm 42. On the tip end side of the support portion 44, a third drive portion 45 for rotationally driving the second arm 42 is provided. The pedestal portion 47 supports the support portion 44 via a support shaft 46 formed in the vertical direction. A motor is provided on the pedestal portion 47, and the support shaft 46 is rotated by the motor.

The tip portion 50 collects the foreign matter 4 from the waste material 2 transported by the second transport device 22b. As shown in FIG. 5, the tip portion 50 is supported by a horizontal axis provided at the tip of the first arm 40, and includes a box-shaped base portion 51. A mounting portion 52 and a camera 54 are provided on the lower surface of the base portion 51. A collecting member 53 for collecting articles is detachably mounted on the mounting portion 52. The collecting member 53 has a plurality of claws and is configured as a mechanical chuck that grips and collects the foreign matter 4. The collecting member 53 is driven by the fourth driving unit 58 and rotates together with the mounting unit 52 to perform an article gripping operation such as opening and closing the claw portion. The camera 54 is a device that captures an image of the waste material 2 transported by the second transport device 22b. The camera 54 outputs the captured image data to the control unit 70 (see FIG. 6).

The control unit 70 is configured as a microprocessor centered on the CPU, and controls the robot hand 15. The control unit 70 outputs a signal to the first drive unit 41, the second drive unit 43, the third drive unit 45, and the fourth drive unit 58. Further, the control unit 70 inputs a signal from the camera 54. The first drive unit 41, the second drive unit 43, and the third drive unit 45 are equipped with position sensors (not shown), and the control unit 70 drives each drive while inputting position information from those position sensors. Control the part. In the robot hand 15, the control unit 70 grasps the position and direction of the foreign matter 4 by using the image captured by the camera 54, and removes the foreign matter 4. With this robot hand 15, it is possible to accurately collect foreign matter 4.

The moving device 35 is a device for moving the side wall 33b of the second transport device 22b. As shown in FIGS. 2 to 4, the moving device 35 is provided on the rear side of the side wall 33b and the transport surface 32. The moving device 35 includes a linear actuator 61, and drives the linear actuator 61 to move the side wall 33b with respect to the side wall 33a as the linear actuator 61 operates. For example, when the side wall 33b is in the position shown by the solid line in FIG. 4, the transfer width of the second transfer device 22b is expanded by moving the side wall 33b in a direction away from the side wall 33a.

The vibration generator 36 is a device that vibrates the transport surface 32 of the second transport device 22b. As shown in FIGS. 2 to 4, the vibration generator 36 is located downstream of the camera 14 in the transport direction D and upstream of the robot hand 15 in the transport direction D (first transport device 22a and second transport device 22b). (Near the boundary with). The vibration generator 36 includes a vibration motor 62 (see FIGS. 3 and 6), and drives the vibration motor 62 to vibrate the transport surface 32.

As shown in FIG. 6, the control device 80 is a computer composed of a well-known CPU 80a, ROM 80b, RAM 80c, HDD 80d, etc., and controls the entire foreign matter removing device 10. The control device 80 is connected to a camera 14, a robot hand 15, a drive motor 60, a linear actuator 61, and a vibration motor 62. The control device 80 can communicate with the control unit 70 of the robot hand 15. The control device 80 outputs a control signal to the drive motor 60, the linear actuator 61, and the vibration motor 62. Further, the control device 80 inputs image data from the camera 14.

Next, the operation of the foreign matter removing device 10 configured in this way will be described with reference to FIGS. 7 and 8. FIG. 7 is a flowchart showing an example of a transport state setting routine, and FIG. 8 is a diagram showing transport state management data 81. The program of the transport state setting routine is stored in the ROM 80b, and is always executed by the CPU 80a (for example, every several tens of seconds) when the foreign matter is removed by the foreign matter removing device 10. As shown in FIG. 8, the HDD 80d of the control device 80 stores the transport state management data 81 stored in association with the amount of the detected foreign matter 4 and the transport state (transport speed, transport width, and presence / absence of vibration). ing. In the initial setting immediately after the power of the foreign matter removing device 10 is turned on, the transport state is the normal state (the transport width is W1, the transport speed is the maximum speed (here, 40 [m / min]), and the vibration is generated by the vibration generator 36. Is set to none).

When this routine is started, the CPU 80a inputs image data from the camera 14 (S110). Specifically, the CPU 80a inputs the image data captured by the camera 14 at the present time and stores it in the HDD 80d.

Subsequently, the CPU 80a detects the foreign matter 4 (S120). Specifically, the CPU 80a first detects the region of the waste material 2 in the image data input in S110. Subsequently, the CPU 80a acquires the RGB values in the region of the waste material 2. Subsequently, the CPU 80a compares the RGB value in the region of the waste material 2 with the RGB value range of the object 3 stored in the HDD 80d in advance. Then, the CPU 80a detects a region of the waste material 2 outside the RGB value range of the object 3 as a region of the foreign matter 4.

Subsequently, the CPU 80a calculates the amount of the foreign matter 4 (S130). Specifically, the CPU 80a counts the number of regions of the foreign matter 4 detected in S120 and stores them in the RAM 80c.

Subsequently, the CPU 80a determines whether or not the amount of the foreign matter 4 is equal to or more than a predetermined predetermined amount (S140). If the amount of the foreign matter 4 calculated in S120 is less than the specified amount, the CPU 80a sets the transport state of the second transport device 22b to the normal state (S150), and ends this routine. The normal state is as described above.

On the other hand, if the amount of the foreign matter 4 exceeds the specified amount in S130, the CPU 80a sets the transport state of the second transport device 22b to the restricted state (S160), and ends this routine. Specifically, as shown in FIG. 8, if the amount of the foreign matter 4 calculated in S120 is 1 times or more and less than 2 times the specified amount, the CPU 80a is set to the first restricted state. In the first restricted state, the transfer speed is set to 30 [m / min], the transfer width is set to Wa (W1 <Wa <W2), and the vibration generated by the vibration generator 36 is applied. If the amount of the foreign matter 4 calculated in S120 is twice or more the specified amount, the second restricted state is set. In the second restricted state, the transfer speed is set to 20 [m / min], the transfer width is set to W2, and the vibration generated by the vibration generator 36 is applied. That is, the transport speed of the second transport device 22b is set to be a speed corresponding to the amount of the detected foreign matter 4, and the transport width of the second transport device 22b is set to the width corresponding to the amount of the detected foreign matter 4. Set to be.

After finishing the transport state setting routine, the CPU 80a controls each member so as to be in the set transport state when it is necessary to change the transport state. For example, when it is necessary to reduce the transfer speed, the drive motor 60 is controlled to reduce the transfer speed of the transfer surface 32 of the second transfer device 22b. When it is necessary to increase the transfer speed, the drive motor 60 is controlled to increase the transfer speed of the transfer surface 32 of the second transfer device 22b. When it is necessary to increase the transport width, the linear actuator 61 of the moving device 35 is controlled to move the side wall 33b in the direction away from the side wall 33a. When it is necessary to narrow the transport width, the linear actuator 61 of the moving device 35 is controlled to move the side wall 33b in the direction approaching the side wall 33a.

Here, the correspondence between the components of the present embodiment and the components of the present disclosure will be clarified. The foreign matter removing device 10 of the present embodiment corresponds to the foreign matter removing device of the present disclosure, the transport line 22 corresponds to the transport line, the first and

second transport devices

22a and 22b correspond to the transport devices, and the camera 14 detects them. The robot hand 15 corresponds to the robot hand, the control device 80 corresponds to the control device, and the vibration generator 36 corresponds to the vibration generator.

The foreign matter removing device 10 described above changes the transporting state of the second transporting device 22b located downstream of the camera 14 in the transporting direction D according to the amount of the foreign matter 4 detected by the camera 14 during transporting. .. Therefore, the transport state of the second transport device 22b can be changed so that the robot hand 15 can appropriately remove the foreign matter 4 according to the amount of the foreign matter 4 contained in the waste material 2.

Further, in the foreign matter removing device 10, if the amount of the foreign matter 4 detected by the camera 14 during the transport exceeds the specified amount, the CPU 80a slows down the transport speed and expands the transport width. In this way, even if the amount of the foreign matter 4 contained in the waste material 2 temporarily increases, the time allotted to the robot hand 15 for removing the foreign matter 4 increases in order to reduce the transport speed, and the robot hand 15 increases. All foreign substances 4 can be removed. Further, since the transport width is expanded, even if the transport speed is reduced, the waste material 2 can be less likely to stay in the transport device before and after the speed is reduced.

Further, in the foreign matter removing device 10, when expanding the transport width, the CPU 80a widens the transport width so that the transport width corresponds to the amount of the foreign matter 4 detected by the camera 14. Therefore, the transport width can be expanded to a width corresponding to the amount of the foreign matter 4 detected by the camera 14. Further, in this case, the robot hand 15 is arranged outside the side wall 33b, and the CPU 80a is located on the downstream side of the transport direction D with respect to the camera 14 when the transport width is expanded. Is moved in a direction away from the side wall 33a. Since the side wall 33a does not move, the moving distance of the robot hand 15 can be reduced.

The foreign matter removing device 10 is provided with a vibration generating device 36 that generates vibration on the downstream side of the transport direction D from the camera 14 and on the upstream side of the robot hand 15 in the transport line 22. When vibration is generated on the downstream side of the camera 14 and on the upstream side of the robot hand 15 to widen the transport width, the waste material 2 is spread to the full width in order to widen the transport width while applying vibration to the waste material 2 to be transported. It can be made easier.

It should be noted that the present disclosure is not limited to the above-described embodiment, and it goes without saying that the present disclosure can be carried out in various embodiments as long as it belongs to the technical scope of the present disclosure.

For example, in the above-described embodiment, if the amount of the detected foreign matter 4 exceeds the specified amount, the transport speed is reduced and the transport width is expanded, but the present invention is not limited to this. For example, if the amount of the detected foreign matter 4 exceeds the specified amount, at least one of slowing down the transport speed and expanding the transport width may be performed, or the amount of the detected foreign matter 4 exceeds the specified amount. If this is the case, only vibration may be applied without reducing the transfer speed and expanding the transfer width.

In the above-described embodiment, the camera 14 is a camera that captures a color image, but the present invention is not limited to this. For example, the camera 14 may be an infrared camera that detects infrared rays. In this case, infrared rays from the transported waste material 2 may be detected, and the region of the object 3 and the region of the foreign matter 4 may be detected based on the amount of infrared rays.

In the above-described embodiment, if the amount of the detected foreign matter 4 exceeds the specified amount, the transport speed is reduced and the transport width is expanded, but the present invention is not limited to this. For example, if the ratio of the foreign matter 4 to the waste material 2 exceeds a predetermined ratio, the transport speed may be reduced and the transport width may be expanded. Further, in this case, for example, in S130, the ratio of the foreign matter 4 to the waste material 2 may be obtained by obtaining the ratio of the number of pixels in the region of the foreign matter 4 to the number of pixels in the region of the waste material 2 detected in S120.

In the above-described embodiment, the transport line 22 is configured by using the first and

second transport devices

22a and 22b, but the present invention is not limited to this. For example, the transport line 22 may be configured by using three or more transport devices. In this case, in the transport device located on the downstream side of the transport direction D with respect to the camera 14, the speed may be individually reduced, the transport width may be individually expanded, or the transport device may be individually expanded. The vibration may be applied to the camera.

In the above-described embodiment, if the amount of the detected foreign matter 4 exceeds the specified amount, the transport speed is reduced and the transport width is expanded in three steps according to the amount of the foreign matter 4, but this is limited to this. do not have. For example, in the above-described embodiment, the transport speed may be lowered and the transport width may be expanded in four or more steps according to the amount of the foreign matter 4, or the transport speed may be reduced in two steps according to the amount of the foreign matter 4. The reduction and the expansion of the transport width may be performed, or the transport speed may be steplessly reduced and the transport width may be expanded according to the amount of the foreign matter 4. Further, if the amount of the foreign matter 4 exceeds the specified amount, a predetermined restricted state (for example, a second restricted state) may be set regardless of the amount of the foreign matter 4.

In the above-described embodiment, the collecting member 53 is a mechanical chuck having a plurality of claws and gripping and collecting the foreign matter 4, but the collection member 53 is not limited to this. For example, the collecting member 53 may be a nozzle that adsorbs and collects the foreign matter 4.

In the above-described embodiment, the robot hand 15 is configured as an articulated arm robot, but the robot hand 15 is not limited to this. For example, as in the foreign matter removing device 110 shown in FIG. 9, the robot hand 115 may be configured by using an XY robot. The robot hand 115 moves the tip portion 50 in the XY-axis direction, and includes an X-axis slider 145 and a Y-axis slider 143 as shown in FIG. The X-axis slider 145 is supported by a pair of upper and lower guide rails 144 provided so as to extend in the X-axis direction on the left surface of the Y-axis slider 143, and can be moved in the X-axis direction by driving an X-axis motor (not shown). be. The Y-axis slider 143 is supported by a pair of front and rear guide rails 142 mounted on a pair of rail erection portions 140 arranged so as to straddle the second transport device 22b in the front-rear direction, and is driven by a Y-axis motor (not shown). It can move in the Y-axis direction. On the left surface of the X-axis slider 145, an elevating mechanism 150 for moving the tip portion 50 in the Z-axis direction is provided. The elevating mechanism 150 can elevate the tip portion 50 by driving a Z-axis motor (not shown). In FIG. 9, the same components as those in the above-described embodiment are designated by the same reference numerals, and the description thereof will be omitted.

Here, the foreign matter removing device of the present disclosure may be configured as follows.

In the foreign matter removing device of the present disclosure, the transport state may be at least one of the transport speed and the transport width when the transport device transports the waste material, and the control device is detected by the detection unit during transport. If the amount of the foreign matter exceeds a predetermined amount, the transport state may be changed. In this way, if the amount of foreign matter exceeds the specified amount, at least one of the transport speed and the transport width can be changed so that the foreign matter can be appropriately removed by the robot hand.

In the foreign matter removing device of the present disclosure, the control device reduces the transport speed and expands the transport width when the amount of the foreign matter detected by the detection unit during transport exceeds the specified amount. It may be done. In this way, even if the amount of foreign matter contained in the waste material being transported increases temporarily, the transport speed will decrease, so the time allotted to the robot hand to remove the foreign matter will increase, and all the foreign matter will be allocated to the robot hand. Foreign matter can be removed. Further, since the transport width is expanded, even if the transport speed is reduced, it is possible to prevent the waste material from staying in the transport device before and after the speed is reduced.

In the foreign matter removing device of the present disclosure, when the control device slows down the transport speed, the control device reduces the transport speed so as to be a transport speed corresponding to the amount of the foreign matter detected by the detection unit. May be good. In this way, the transport speed can be reduced to a speed corresponding to the amount of foreign matter detected by the detection unit. Therefore, for example, if the amount of foreign matter detected by the detection unit slightly exceeds the specified amount, the transport speed of the transport device located downstream of the detection unit in the transport direction is slightly reduced. It is possible to prevent the amount of waste material to be treated per fixed time from being significantly reduced. Further, for example, if the amount of foreign matter detected by the detection unit greatly exceeds the specified amount, the transfer speed of the transfer device located downstream of the detection unit in the transfer direction can be significantly reduced. The time allotted to the robot hand to remove the foreign matter is sufficiently increased, and the robot hand can remove all the foreign matter.

In the foreign matter removing device of the present disclosure, when the control device expands the transport width, the transport width may be widened so as to be a transport width corresponding to the amount of the foreign matter detected by the detection unit. .. In this way, the transport width can be expanded to a width corresponding to the amount of foreign matter detected by the detection unit. Further, in this case, the robot hand may be arranged on the outside of one of the side walls, and the control device is located on the downstream side in the transport direction from the detection unit when the transport width is expanded. The other side of the side wall of the transport device may be moved in a direction away from one of the side walls. By doing so, since the side wall on the side where the robot hand is provided does not move, the moving distance of the robot hand can be reduced.

In the foreign matter removing device of the present disclosure, a vibration generator that generates vibration may be provided on the downstream side of the transport line in the transport direction from the detection unit and on the upstream side of the robot hand. By doing so, vibration can be generated on the downstream side of the detection unit and on the upstream side of the robot hand. For example, when the transport width is widened, the transport width can be widened while applying vibration to the waste material to be transported, so that the waste material can be easily spread to the full transport width.

This disclosure can be used for recycling of industrial waste.

1 Recycling system, 2 Waste materials, 3 Objects, 4 Foreign matter, 10 Foreign matter remover, 11a primary crusher, 11b secondary crusher, 12a primary magnetic separator, 12b secondary magnetic separator, 13 screen machine, 14 camera, 15 robot hand, 16 camera holding member, 20-25 transfer line, 22a first transfer device, 22b second transfer device, 30 transfer surface, 31a, 31b side wall, 32 transfer surface, 33a, 33b side wall, 34 telescopic member, 35 Mobile device, 36 vibration generator, 40 1st arm, 41 1st drive unit, 42 2nd arm, 43 2nd drive unit, 44 support unit, 45 3rd drive unit, 46 support shaft, 47 pedestal unit, 50 tip Unit, 51 base, 52 mounting unit, 53 sampling member, 54 camera, 58 4th drive unit, 60 drive motor, 61 linear actuator, 62 vibration motor, 70 control unit, 80 control device, 80a CPU, 80b ROM, 80c RAM , 80d HDD, 81 transport status management data, 110 foreign matter removal device, 115 robot hand, 140 rail erection part, 142 guide rail, 143 Y-axis slider, 144 guide rail, 145 X-axis slider, 150 elevating mechanism, D transport direction.

Claims

A transport device having a transport surface for transporting waste materials and side walls provided on both sides of the transport surface, and a transport device.
A transport line in which a plurality of the transport devices are arranged along the transport direction of the waste material, and a transport line.
A detection unit that detects foreign matter contained in the waste material transported by the transport line, and
A robot hand provided on the downstream side in the transport direction from the detection unit and removing the foreign matter detected by the detection unit from the transport line.
A control device that changes the transport state of the transport device located downstream of the detection unit in the transport direction according to the amount of the foreign matter detected by the detection unit during transport.
Foreign matter removal device equipped with.
The transport state is at least one of the transport speed and the transport width when the transport device transports the waste material.
The control device changes the transport state when the amount of the foreign matter detected by the detector during transport exceeds a predetermined predetermined amount.
The foreign matter removing device according to claim 1.
If the amount of the foreign matter detected by the detection unit during transportation exceeds the specified amount, the control device slows down the transport speed and expands the transport width.
The foreign matter removing device according to claim 2.
When the transfer speed is reduced, the control device reduces the transfer speed so that the speed corresponds to the amount of the foreign matter detected by the detection unit.
The foreign matter removing device according to claim 3.
When the control device expands the transport width, the control device widens the transport width so as to have a width corresponding to the amount of the foreign matter detected by the detection unit.
The foreign matter removing device according to claim 3 or 4.
The robot hand is placed on the outside of one of the side walls.
When expanding the transport width, the control device moves the other side wall of the transport device located downstream of the detection unit in the transport direction in a direction away from one of the side walls.
The foreign matter removing device according to claim 5.
The foreign matter removing device according to any one of claims 1 to 6.
A foreign matter removing device provided with a vibration generator that generates vibration on the downstream side of the transport line in the transport direction and on the upstream side of the robot hand from the detection unit.