A mobile light construction waste disposal device and method

Abstract

The present invention discloses a mobile light construction waste disposal device and method, including: a main body part, on which six groups of multi-axis mechanical arms are arranged from left to right, and a processing mechanism is arranged at the end of the multi-axis mechanical arms; a crushing pre-processing part, which is installed on the main body part, and is composed of a bar screen, a first conveyor belt, and a jaw crusher from right to left; a screening and reprocessing part, which is installed on the main body part and is located between the crushing pre-processing part and the classification and screening part, and is composed of a screening box as the main body, and screening layers are arranged at intervals in the vertical height; the classification and screening part includes a garbage unloading box and a sorting baffle, the sorting baffle is a rectangular baffle, and a notch-shaped second conveyor belt is arranged inside it, and image recognition cameras are arranged on the inner side of the sorting baffle near the second conveyor belt and the mechanical arm. The present invention can quickly recycle light construction waste scattered at various places on the construction site, and improve the garbage recycling efficiency and utilization rate.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, and in particular to a mobile light-duty construction waste disposal device, and also to a mobile light-duty construction waste disposal method. Background Art

[0002] Construction waste refers to the general term for slag, waste concrete, waste bricks and stones and other wastes generated during people's production activities in the construction industry such as demolition, construction, decoration and repair. The light construction waste in construction waste usually includes discarded bricks, concrete blocks, gypsum boards, tiles, gypsum, glass, wood and other materials.

[0003] The common treatment method is to collect construction waste and transport it to a special construction waste treatment site or near the construction site. This method may have large transportation expenses, and the waste treatment efficiency is slow and not timely. It is impossible to quickly and effectively treat the construction waste piled up in various places on the construction site. Materials such as wood, glass, and metal can be sorted and recycled at the recycling center, and then transported to a special processing plant for secondary processing or recycling. Bricks and concrete blocks will be processed using crushing equipment at a special construction waste treatment site to crush them into recycled aggregates or other usable materials. Gypsum boards, tiles, etc. can be cut and reused.

[0004] Therefore, there is a need for a mobile light construction waste disposal device and method that can flexibly cope with the treatment of different light construction waste at various points on the construction site. Summary of the invention

[0005] Based on the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a mobile light construction waste disposal device, which greatly saves the transportation cost and processing time cost of light construction waste and improves the waste recycling efficiency and utilization rate.

[0006] The present invention also provides a mobile light construction waste disposal method, which can be directly applied to the existing light construction waste treatment and disposal, has strong adaptability to various complex terrain environments at the construction site, and can quickly recycle light construction waste scattered throughout the construction site.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures:

[0008] The mobile light construction waste disposal device of the present invention comprises: a main body part, which is the main body of the whole device, and on which six groups of multi-axis mechanical arms are arranged from left to right, and the ends of the multi-axis mechanical arms are provided with processing mechanisms; a crushing pre-processing part, which is installed on the main body part, and which is composed of a bar screen, a first conveyor belt, and a jaw crusher from right to left; a screening and reprocessing part, which is installed on the main body part and is located between the crushing pre-processing part and the classification and screening part, and which is composed of a screening box as the main body, and a plurality of aggregate storage boxes are arranged in front and behind the screening box; the screening box is supported by a screening base, and four vertical upwards are arranged around it. The screening pillar has a top plate connected to its top end; the screening pillar is provided with screening layers at intervals in the vertical height; the classification and screening part is installed on the main body part, which includes a garbage discharge box and a sorting baffle, the sorting baffle is a rectangular baffle, a notch-shaped second conveyor belt is provided inside it, a fixed transmission belt baffle is provided on the periphery of the second conveyor belt, and a conveyor belt partition that moves with the second conveyor belt is provided above it; image recognition cameras are provided on the inner side of the sorting baffle near the second conveyor belt and the mechanical arm respectively; a plurality of garbage classification storage boxes and electric cutters are provided on one side of the sorting baffle, and two groups of crushers are provided on the other side.

[0009] Preferably, the processing mechanism is composed of a base formed by a processing mechanism mounting seat installed on the end of the multi-axis robot arm through a rotating motor, and a bucket mechanism, a clamp mechanism, and a clamping mechanism are installed on the outer surface of the processing mechanism mounting seat in sequence from bottom to top; the bucket mechanism is composed of a bucket that rotates around the output shaft of the bucket rotating motor; the clamp mechanism is composed of two clamp electric push rods that are located in the upper area of ​​the bucket and pass through the processing mechanism mounting seat, and its output shaft faces the direction of the bucket, and its output shaft is connected to a first electric clamp, and the horizontal positions of the above two clamp electric push rods are located at the left and right ends of the bucket support rod, and there is a certain distance between them and the bucket support rod; the clamping mechanism is composed of two clamping mechanism electric push rods that are installed between the clamp electric push rod and the bucket support rod.

[0010] Furthermore, the electric push rod of the clamping mechanism is oriented vertically upward, and its end is connected to a horizontal clamping mechanism mounting seat. A clamping mechanism rotating motor is provided on one side of the clamping mechanism mounting seat, and a horizontal clamping electric push rod mounting seat is connected to its output shaft. A number of clamping electric push rods facing vertically downward are provided around the upper surface of the clamping electric push rod mounting seat, and its output shaft passes through the clamping electric push rod mounting seat and is connected to a second electric clamp. An electric permanent magnetic suction cup is provided in the middle space of the lower surface of the clamping electric push rod mounting seat. For a robotic arm close to the electric cutting machine, the middle space of its lower surface is set as an electric vacuum suction cup for sucking up tile materials.

[0011] Furthermore, the bar screen is used to screen out large pieces of waste and waste particles, and output them to the first conveyor belt. The first conveyor belt is provided with three upper and lower branches. The uppermost branch leads to the discharge port of the jaw crusher, and the two lower branches lead to two inward areas, each of which has a transfer box below. The jaw crusher is used to crush larger bricks and waste concrete blocks, and a transfer box is also provided below its discharge port. The transfer box is composed of a main box body with an upper opening, and a group of clamping seats are provided around the transfer box, each group has two, and the position interval matches the two first electric clamps of the clamp mechanism.

[0012] Preferably, the screening layer is funnel-shaped, with a rectangular opening at the bottom thereof, the area of ​​which is smaller than the discharge area at the bottom of the screen; the screen is also provided with a group of clamping seats on all four sides, corresponding to the first electric clamping jaws of the clamping mechanism.

[0013] Accordingly, the present invention also provides a mobile light construction waste disposal method, the steps of which are:

[0014] S1. Mobile picking: When it is necessary to pick up waste at the construction site, the picking method is considered in combination with the actual type of waste. First, the main body is moved to the vicinity of the waste, and the four groups of multi-axis robotic arms around it are started to make the processing mechanism at the end close to the waste. If it is powder or granular waste, use a bucket to scoop it. At this time, retract the first electric clamp of the clamping mechanism, retract the second electric clamp of the clamping mechanism, and flip the clamping electric push rod mounting seat to the upper vertical direction through the clamping mechanism rotating motor, so that the space above the bucket is completely emptied, and it therefore has more space for scooping operations. At this time, cooperate with the bucket rotating motor to make the bucket rotate and scoop up the waste. After scooping, the waste is transported to the top of the mechanism that needs to be dumped, and the rotating motor connecting the robotic arm and the processing mechanism is started to flip the bucket, and the waste is poured into the mechanism. When the waste is bricks or concrete blocks, the pouring mechanism is rods. Screen, when the waste is gypsum, gypsum board, tile, wood, plastic, metal, the pouring mechanism is a garbage discharge box; if the waste is strip-shaped, plate-shaped, and has a more complex structure, the bucket can be rotated by the bucket rotation motor to make it vertically downward. At this time, the clamping mechanism remains retracted, and the clamping mechanism is controlled to flip back to its original position, so that the clamping electric push rod cooperates with the second electric clamp to clamp the complex waste below; for special waste, the permanent magnetic suction cup and electric vacuum suction cup on the clamping mechanism are used for quick absorption; when the waste put into the crushing pre-treatment part is processed and falls into the transfer box, it is picked up by the clamping mechanism. At this time, it is only necessary to flip the bucket mechanism and the clamping mechanism to make room for the upper and lower space for the first electric clamp of the clamping mechanism to extend, and then it clamps any group of clamping seats around the transfer box, completes the pick-up and moves it to the top of the designated mechanism, and flips the entire processing mechanism to dump the material;

[0015] S2, crushing and screening pretreatment: After receiving the waste bricks and waste concrete blocks from the construction site, they are put into the bar screen, and the bar screen, the first conveyor belt, and the jaw crusher are started. The larger bricks and concrete blocks are sent to the jaw crusher from the uppermost branch of the first conveyor belt for crushing. After crushing, they fall into the transfer box below its discharge port and wait for transfer and screening. The smaller brick particles and concrete particles directly enter the transfer box at the end through the two branches below the first conveyor belt and wait for transfer and screening.

[0016] S3, secondary screening and reprocessing: after the crushing and screening preprocessing is completed, the two groups of mechanical arms on the left end clamp the corresponding transfer box to the top of the middle opening of the highest screening layer of the screening box through the clamp mechanism, and the two groups of mechanical arms in the middle clamp a screen to the top of the middle opening of the two lower screening layers respectively. A transfer box can be placed on the bottom screening base to collect the smallest particles that fall. At this time, three groups of mechanical arms form a transfer box, screen, and transfer box channel from top to bottom. At this time, the three groups of mechanical arms simulate the movement during vibration screening and the rotary screening operation. After the screening is completed, the mechanical arms move the screen and transfer box to the top of the aggregate storage box, flip and unload for storage. If the screening result is not satisfactory or finer screening is still required, the order of the upper and lower screens is switched, and a finer screen is clamped for repeated screening until the effect meets the requirements;

[0017] S4. Recycling and classification of other waste: When processing waste other than discarded bricks and concrete blocks, use the two sets of robotic arms on the far right to clamp or shovel the waste on the construction site and put it into the garbage unloading box, start the second conveyor belt, and open the electric valve at intervals to unload the second conveyor belt at intervals, so that the areas between the partitions on the second conveyor belt are finally filled with waste. For waste that cannot pass through the electric valve, it can be directly taken out and put into the conveyor belt with the assistance of the robotic arm. At this time, start the image recognition camera. The four sets of image recognition cameras detect the garbage images in the interval area of ​​the second conveyor belt, compare and classify the garbage images through the semantic segmentation network model, and identify the garbage that needs to be clamped in the area. Waste, and then cooperate with its corresponding robotic arm to clamp and process, clamp the wood, gypsum board, and ceramic tile and place them in the electric cutting machine for cutting, and then recycle them and classify them into garbage classification storage boxes, and then put the metal and plastic into a group of crushers respectively, crush them and store them in the storage box below, when the conveyor belt undergoes several groups of detection, identification, clamping, processing and storage cycles, it is confirmed that there is no waste that needs to be identified in the conveyor belt, and it is judged that the waste in the conveyor belt is impurity waste, and the image recognition camera is used to detect whether the area inside the partition is empty. If it is not empty, the robotic arm is controlled to clamp the waste and store it in another separate group of garbage classification storage boxes until it is all emptied; at this point, the entire light construction waste disposal process is completed.

[0018] From the above, the beneficial effects of the mobile light construction waste disposal device and method of the present invention are as follows:

[0019] 1. The present invention adopts a general-purpose mechanical arm in conjunction with a special processing mechanism, so that a single mechanical arm is sufficient to perform multiple functions, such as shoveling construction site waste, clamping construction site waste, adsorbing construction site metal waste and tile waste, and moving transfer boxes between various mechanisms on the main body, which greatly improves the utilization rate of components and enhances the adaptability of the device to various waste treatments.

[0020] 2. The processing mechanism designed by the present invention has three groups of bucket mechanisms, clamp mechanisms, and clamping mechanisms from bottom to top, which are compact and closely coordinated, and can quickly switch between multiple functions without interfering with each other, greatly saving manpower and material resources consumed by switching picking tools and picking methods.

[0021] 3. The present invention can not only directly collect the discarded bricks and concrete blocks at the construction site, but also immediately screen, classify and pre-crush them. The larger bricks and concrete blocks are delivered to the transfer box through the bar screen, the first conveyor belt and the jaw crusher for crushing pre-treatment, while the smaller bricks and concrete block particles are directly delivered to the transfer box through the bar screen and the first conveyor belt for screening pre-treatment. This method is compact and efficient, and can quickly collect, pre-treat and classify bricks and concrete blocks and other construction waste, saving processing time and cost.

[0022] 4. The screening box designed in the present invention is provided with a plurality of screening layers at intervals. Due to its special funnel shape, the aggregate dropped from the screen above it can be completely received, and the aggregate output by it can also be completely received by the screen below. This structure cooperates with four groups of mechanical arms around to clamp the screen, so as to realize automatic multi-layer screening. At the same time, the number and fineness of screening can be adjusted according to actual conditions, which greatly improves the screening efficiency and the performance of recycled aggregate.

[0023] 5. The classification and screening part designed in the present invention can better collect and classify waste except discarded bricks and discarded concrete blocks. It can collect the waste into the garbage discharge box, and then open the electric valve at intervals so that the waste can eventually fill the compartments of the second conveyor belt. The image recognition camera then identifies the waste through the semantic segmentation network model, and then starts its matching robotic arm to clamp the waste, and then processes it in a targeted manner. This method can greatly improve the efficiency of waste classification and processing. At the same time, for waste that is no longer within the recycling range, it can be stored in a separate garbage classification storage box after the area is cleared through image recognition, effectively increasing the waste collection capacity of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0025] Figure 1 It is a schematic diagram of the overall structure of the mobile light-duty construction waste disposal device of the present invention;

[0026] Figure 2 It is a schematic diagram of the overall structure of the main body part of the present invention;

[0027] Figure 3 It is a partial enlarged schematic diagram of the processing mechanism of the present invention;

[0028] Figure 4 It is a schematic diagram of the overall structure of the crushing pretreatment part of the present invention;

[0029] Figure 5 It is a schematic diagram of the overall structure of the screening and reprocessing part of the present invention;

[0030] Figure 6 It is a schematic diagram of the overall structure of the classification and screening part of the present invention.

[0031] Description of reference numerals:

[0032] 1000-Main body part:

[0033] 1001-main body; 1002-roller; 1003-multi-axis mechanical arm; 1004-processing mechanism; 1004a-processing mechanism mounting seat; 1004b-bucket; 1004c-bucket rotating motor; 1004d-clamping electric push rod; 1004e-first electric clamping claw; 1004f-gripping mechanism electric push rod; 1004g-gripping mechanism mounting seat; 1004h-gripping mechanism rotating motor; 1004i-gripping electric push rod mounting seat; 1004j-gripping electric push rod; 1004k-second electric clamping claw; 1004l-electro-permanent magnetic chuck;

[0034] 2000- Crushing pre-treatment part:

[0035] 2001-Bar screen; 2002-First conveyor belt; 2003-Jaw crusher; 2004-Transfer box;

[0036] 3000-Screening and reprocessing part:

[0037] 3001-aggregate storage box; 3002-screening base; 3003-screening support; 3004-screening layer; 3005-screen;

[0038] 4000-Classification Screening Section:

[0039] 4001-garbage discharge box; 4001a-discharge port; 4002-sorting baffle; 4003-second conveyor belt; 4003a-conveyor belt partition; 4003b-conveyor belt baffle; 4004-image recognition camera; 4005-garbage classification storage box; 4006-electric cutting machine; 4007-crusher. DETAILED DESCRIPTION

[0040] Next, combine Figures 1 to 6 A mobile light-duty construction waste disposal device and method provided by the present invention are introduced in detail.

[0041] Depend on Figure 1 As shown, the mobile light construction waste disposal device of the present invention includes a main body part 1000 as a main body, and a crushing pre-processing part 2000, a screening and reprocessing part 3000, and a classification and screening part 4000 installed thereon from left to right.

[0042] Depend on Figure 2-3 As shown, the main body part 1000 includes a main body 1001 as the main body, and a plurality of rollers 1002 are arranged around it. Six groups of multi-axis mechanical arms 1003 are arranged on it from left to right, wherein the front and rear groups at the leftmost end serve the crushing pre-processing part 2000 and the screening and reprocessing part 3000 at the same time, the front and rear groups in the middle serve the screening and reprocessing part 3000 and the classification and screening part 4000 at the same time, and the front and rear groups at the right end only serve the classification and screening part 4000. The front and rear groups at the left and right ends usually also bear the responsibility of picking up garbage in the construction site and transporting it to the body, and the front and rear groups in the middle usually do not pick up garbage in the construction site, but can be used as a transfer mechanism to transfer garbage materials between storage boxes. The multi-axis mechanical arm 1003 is a universal part, which can be driven by various motors so that the processing mechanism 1004 at its end can reach various heights and angles. The processing mechanism 1004 is composed of a processing mechanism mounting seat 1004a installed at the end of the multi-axis robot arm 1003 through a rotating motor to form a base. The rotating motor can make the entire processing mechanism 1004 flip over, thereby realizing the flipping and dumping of garbage and aggregates.

[0043] The outer surface of the processing mechanism mounting seat 1004a of the processing mechanism 1004 is equipped with a bucket mechanism, a clamp mechanism, and a clamping mechanism in sequence from bottom to top; the bucket mechanism is composed of a bucket 1004b that rotates around the output shaft of the bucket rotating motor 1004c; the clamp mechanism is composed of two clamp electric push rods 1004d that are located in the upper area of ​​the bucket 1004b and pass through the processing mechanism mounting seat 1004a, and its output shaft is facing the direction of the bucket 1004b, and its output shaft is connected to the first electric clamp 1004e, and the horizontal positions of the above two clamp electric push rods 1004d are located at the left and right ends of the bucket support rod, and there is a certain distance between them and the bucket support rod; the clamping mechanism is composed of two clamping mechanism electric push rods 1004f installed between the clamp electric push rod 1004d and the bucket support rod, and the clamping mechanism electric push rod 1004f is oriented vertically. On the top, a horizontal clamping mechanism mounting seat 1004g is connected to its end, and a clamping mechanism rotating motor 1004h is provided on one side of the clamping mechanism mounting seat 1004g, and a horizontal clamping electric push rod mounting seat 1004i is connected to its output shaft, and a plurality of vertically downward clamping electric push rods 1004j are arranged around the upper surface of the clamping electric push rod mounting seat 1004i, and its output shaft passes through the clamping electric push rod mounting seat 1004i and is connected to a second electric clamp 1004k, and an electric permanent magnetic suction cup 1004l is provided in the middle space of the lower surface of the clamping electric push rod mounting seat 1004i. For the robot arm close to the electric cutting machine 4006, the middle space of its lower surface can also be set as an electric vacuum suction cup for sucking materials such as tiles; the electric permanent magnetic suction cup is a universal part, which can be turned on by electricity to adsorb magnetic metal materials to achieve the purpose of removing impurities or picking up.

[0044] The purpose of setting up this structure is that when it is necessary to pick up waste on the construction site, the method of picking up is considered in combination with the actual type of waste. First, the main body 1001 is moved to the vicinity of the waste, and the four groups of multi-axis mechanical arms 1003 around it are started to make the processing mechanism 1004 at the end close to the waste. If it is powder or granular waste, it can be scooped up with a bucket 1004b. At this time, the first electric clamping claw 1004e of the clamping mechanism is retracted, and the second electric clamping claw 1004k of the clamping mechanism is retracted, and the clamping electric push rod mounting seat 1004i is flipped to the upper vertical position through the clamping mechanism rotating motor 1004h. The space above the bucket 1004b is completely emptied, so that it has more space for shoveling operations. At this time, the bucket rotating motor 1004c is used to rotate the bucket 1004b to shovel the waste. After shoveling, the waste is transported to the top of the mechanism that needs to be dumped. The rotating motor connected between the mechanical arm and the processing mechanism 1004 is started to turn the bucket 1004b over, and the waste is poured into the mechanism. When the waste is bricks or concrete blocks, the pouring mechanism is the bar screen 2001. When the waste is gypsum, gypsum board, tile, wood, plastic, or metal, the pouring mechanism is the garbage discharge box 40. 01; If the waste is in the shape of strips, plates, or has a complex structure, the bucket 1004b can be rotated by the bucket rotation motor 1004c to make it face vertically downward. At this time, the clamping mechanism remains retracted, and the clamping mechanism is controlled to flip back to its original position so that the clamping electric push rod 1004j cooperates with the second electric clamp 1004k to clamp the complex waste below. It should be noted that whether to flip the clamping mechanism to its original position can be adjusted according to actual conditions. Even if it is not returned to its original position, the waste can also be picked up better by adjusting the direction of the end of the robotic arm and cooperating with the lifting and lowering of the clamping mechanism electric push rod 1004f. ; Correspondingly, for special waste such as metal, ceramic tiles, etc., the permanent magnetic suction cup 1004l and the electric vacuum suction cup on the clamping mechanism can be used for quick suction; when the waste put into the crushing pre-treatment part 2000 is processed and falls into the transfer box 2004, it can be picked up by the clamping mechanism. At this time, you only need to flip the bucket mechanism and the clamping mechanism to make room for the upper and lower space for the first electric clamping claw 1004e of the clamping mechanism to extend, and then clamp any group of clamping seats around the transfer box 2004, complete the picking and move it to the top of the designated mechanism, and flip the entire processing mechanism 1004 to dump the material.

[0045] Compared with the prior art, the present invention adopts a general-purpose robotic arm in conjunction with a special processing mechanism 1004, so that a single robotic arm is sufficient to perform multiple functions, such as shoveling construction site waste, clamping construction site waste, adsorbing construction site metal waste and tile waste, and moving transfer boxes between various mechanisms on the main body 1001, which greatly improves the component utilization rate and enhances the adaptability of the device to various waste treatments; the processing mechanism 1004 designed by the present invention has three groups of bucket mechanisms, clamp mechanisms, and clamping mechanisms from bottom to top, which are compact and closely coordinated, and can quickly switch between multiple functions without interfering with each other, greatly saving manpower and material resources consumed by switching picking tools and picking methods.

[0046] Depend on Figure 4 As shown, the crushing pretreatment part 2000 is installed at the left end of the two groups of mechanical arms at the far left end, and is composed of a bar screen 2001, a first conveyor belt 2002, and a jaw crusher 2003 from right to left; the bar screen 2001 is a universal part, which is used here to screen out large pieces of waste and waste particles, and output them to the first conveyor belt 2002, and the first conveyor belt 2002 is provided with three upper and lower branches, the uppermost branch leads to the discharge port of the jaw crusher 2003 on the left, and the lower two branches lead to two inner areas, and transfer boxes 2004 are provided below the areas; The crusher 2003 is a universal component, which is mainly used for crushing larger bricks and waste concrete blocks. A transfer box 2004 is also provided below the discharge port. The transfer box 2004 is a universal component, which is composed of a main box body with an opening on the top. A group of clamping seats are provided around the transfer box 2004, and each group has two seats, and the position intervals match the two first electric clamps 1004e of the clamping mechanism. The screen 3005 described later is similar to its structure, except that the non-open box body is replaced with a box body with a plurality of screen holes, and the size and intervals of the screen holes can be pre-configured according to actual conditions.

[0047] The purpose of setting up this structure is that after receiving the discarded bricks and discarded concrete blocks from the construction site, they are put into the bar screen 2001, and the bar screen 2001, the first conveyor belt 2002 and the jaw crusher 2003 are started. The larger bricks and concrete blocks are sent from the uppermost branch of the first conveyor belt 2002 to the jaw crusher 2003 for crushing. After crushing, they fall into the transfer box 2004 below the discharge port to wait for transfer and screening processing. The smaller brick particles and concrete particles directly enter the transfer box 2004 at the end through the two branches below the first conveyor belt 2002 to wait for transfer and screening processing. Compared with the prior art, the present invention can not only directly collect the discarded bricks and concrete blocks at the construction site, but also immediately screen, classify and pre-crush them. The larger bricks and concrete blocks are transported through the bar screen 2001, the first conveyor belt 2002 and the jaw crusher 2003 to the transfer box 2004 for crushing pre-treatment, while the smaller brick and concrete block particles are directly transported through the bar screen 2001 and the first conveyor belt 2002 to the transfer box for screening pre-treatment. This method is compact and efficient, and can quickly collect, pre-treat and classify construction waste such as bricks and concrete blocks, saving processing time and cost.

[0048] Depend on Figure 5 As shown, the screening and reprocessing part 3000 is installed between the left end and the four groups of mechanical arms in the middle. It is mainly composed of a screening box in the middle, and several aggregate storage boxes 3001 are arranged in front and behind the screening box; the screening box is supported by a screening base 3002, and four vertical screening pillars 3003 are arranged around it, and the top of which is connected to the top plate; the screening pillars 3003 are arranged with screening layers 3004 at intervals in the vertical height, and the screening layer 3004 is funnel-shaped, and a rectangular opening is arranged at the bottom end thereof, and its area is smaller than the discharge area at the bottom of the screen 3005; the screen 3005 is also provided with a group of clamping seats around it, corresponding to the first electric clamp 1004e of the clamping mechanism.

[0049] The purpose of setting up this structure is that after the crushing and screening pretreatment is completed, the two groups of mechanical arms at the far left end clamp the corresponding transfer box 2004 to the top of the middle opening of the highest screening layer 3004 of the screening box through the clamp mechanism, and the two groups of mechanical arms in the middle clamp a screen 3005 to the top of the middle opening of the two lower screening layers 3004 respectively, and a transfer box 2004 can be placed on the bottom screening base 3002 to collect the smallest particles that fall. At this time, three groups of mechanical arms form a transfer box, screen, and transfer box channel from top to bottom. At this time, the three groups of mechanical arms can simulate the movement during vibration screening and the rotary screening operation. It should be noted that there is another group of mechanical arms at this time, which The position of the clamping mechanism can be adjusted according to the actual screening situation so that it can also clamp a screen 3005 to assist the screen layer in more intense screening and improve the screening efficiency. Because of the special funnel-shaped design of the screening layer, the larger space on the upper part allows all the aggregates falling from the upper screen to be caught, and the screen below can completely cover the unloading area of ​​the upper funnel, so that the screening effect is guaranteed. After the screening is completed, the mechanical arm can move the screen and the transfer box to the top of the aggregate storage box 3001, flip it over and unload it for storage. If the screening result is not satisfactory or finer screening is still required, the order of the upper and lower screens can be switched, and a finer screen can be clamped for repeated screening until the required effect is achieved.

[0050] Compared with the prior art, the screening box designed in the present invention is provided with a plurality of screening layers 3004 at intervals. Due to its special funnel shape, the aggregate dropped from the screen above it can be completely received, and the aggregate output by it can also be completely received by the screen below. This structure cooperates with four groups of mechanical arms around to clamp the screen, so as to realize automatic multi-layer screening. At the same time, the number and fineness of screening can be adjusted according to actual conditions, thereby greatly improving the screening efficiency and the performance of recycled aggregate.

[0051] Depend on Figure 6As shown, the classification and screening part 4000 is mainly composed of a garbage discharge box 4001 and a sorting baffle 4002 installed between four groups of mechanical arms in the middle and the right end. The garbage discharge box 4001 is provided with a sloped bottom plate inside, and a discharge port 4001a is provided on the left side of the lowest point of the sloped bottom plate. An electric valve is also provided at the discharge port 4001a, and the outlet of the electric valve faces the second conveyor belt 4003 below; the sorting baffle 4002 is a rectangular baffle, a notch-shaped second conveyor belt 4003 is provided inside, and a fixed transmission belt baffle 4003b is provided on the periphery of the second conveyor belt 4003, and a transmission belt baffle 4003b that can follow the second conveyor belt 4003 is provided above it. A conveyor belt partition 4003a is moved by two conveyor belts; an image recognition camera 4004 is provided on the inner side of the sorting baffle 4002 near the second conveyor belt and the position of the robotic arm, respectively corresponding to four groups of robotic arms; a plurality of groups of garbage classification storage boxes 4005 and an electric cutter 4006 are provided on one side of the sorting baffle 4002, and two groups of crushers 4007 are provided on the other side, and a larger storage box is provided at the bottom of each group of crushers 4007; the electric cutter 4006 is a universal part, which is mainly used for cutting gypsum boards, tiles and wood; the crusher 4007 is a universal part, and the two groups of crushers are used for crushing metals and plastics respectively.

[0052] The purpose of setting up this structure is that when processing waste other than discarded bricks and concrete blocks, the two groups of mechanical arms at the far right end are used to clamp or shovel the waste on the construction site and put it into the garbage discharge box 4001, and the second conveyor belt 4003 is started, and the electric valve is opened at intervals to discharge the second conveyor belt at intervals, so that the areas between the partitions on the second conveyor belt are finally filled with waste. For waste that cannot pass through the electric valve, it can be directly taken out and put into the conveyor belt with the assistance of the mechanical arm. At this time, the image recognition camera 4004 is started. The four groups of image recognition cameras 4004 detect the garbage images in the interval area of ​​the second conveyor belt 4003, compare and classify the garbage images through the semantic segmentation network model, and identify the waste that needs to be clamped in the area. Materials, such as wood, gypsum, tiles, plastics, metals, etc., are then clamped and processed with the corresponding robotic arms. For example, wood, gypsum boards, and tiles are clamped and placed in the electric cutting machine 4006 for cutting. After completion, they are recovered and classified and put into the garbage classification storage box 4005. For example, metals and plastics are respectively put into a group of crushers 4007 for crushing and then stored in the storage box below. After the conveyor belt undergoes several groups of detection, identification, clamping, processing and storage cycles, it is confirmed that there is no waste that needs to be identified in the conveyor belt, and the waste in the conveyor belt is determined to be impurity waste. The image recognition camera 4004 is used to detect whether the area inside the partition is empty. If not, the robotic arm is controlled to clamp the waste and store it in another separate group of garbage classification storage boxes 4005 until it is all empty.

[0053] Compared with the prior art, the classification and screening part 4000 designed in the present invention can better collect and classify waste except discarded bricks and discarded concrete blocks. It can collect the waste into the garbage discharge box 4001, and then open the electric valve at intervals so that the waste can eventually fill the various interval areas of the second conveyor belt 4003. The image recognition camera 4004 then identifies the waste through the semantic segmentation network model, and then starts its matching robotic arm to clamp the waste, and then process it in a targeted manner. This method can greatly improve the efficiency of waste classification and processing. At the same time, for waste that is no longer within the recycling range, it can be stored in a separate garbage classification storage box 4005 after the area is cleared through image recognition, effectively increasing the waste collection capacity of the device.

[0054] The mobile light construction waste disposal device of the present invention can collect construction waste from various places on the construction site by setting up six groups of multi-axis mechanical arms 1003 on the main body part 1000. Waste such as bricks and concrete blocks can be clamped by the mechanical arm near the crushing pretreatment part 2000 on the main body 1001, or scooped up by the bucket 1004b, and then transported to the crushing pretreatment part 2000 for crushing treatment, and then the crushed aggregate is transported to the screening and reprocessing part 3000 through the transfer box for screening treatment. During screening, the four groups of mechanical arms around the screening and reprocessing part 3000 can be linked to screen, simulating the vibration and turning of the screening machine to achieve multi-layer repeated screening, and the crushed and screened aggregates are classified and stored in each aggregate storage box 3001, so as to realize the mobile recycling and reuse of bricks and concrete blocks. During the process, the metal in the aggregate can be magnetically removed in real time by using the permanent magnetic suction cup 1004l on the processing mechanism; for materials such as gypsum board, gypsum, ceramic tile, glass, wood, etc., the two groups of mechanical arms on the right end of the classification and screening part scoop, clamp and collect the waste on the construction site, and then pour it into the garbage discharge box 4001, and the electric valve at the discharge port 4001a controls the interval to fall onto the second conveyor belt 4003. The construction waste is image-recognized by multiple groups of image recognition cameras 4004 near the second conveyor belt 4003. After classification, the nearest group of mechanical arms clamps the required type of construction waste and transports it to the garbage classification storage box 4005 or the electric cutter 4006, crusher 4007 for processing, which greatly saves the transportation cost and processing time cost of light construction waste and improves the efficiency and utilization rate of garbage recycling.

[0055] Accordingly, the mobile light construction waste disposal method provided by the present invention comprises the following steps:

[0056] S1. Mobile picking: When it is necessary to pick up waste at the construction site, the picking method is considered in combination with the actual type of waste. First, the main body 1001 is moved to the vicinity of the waste, and the four groups of multi-axis mechanical arms 1003 around it are started to make the processing mechanism 1004 at the end close to the waste. If it is powder or granular waste, the bucket 1004b can be used to scoop it up. At this time, the first electric clamping claw 1004e of the clamping mechanism is retracted, and the second electric clamping claw 1004k of the clamping mechanism is retracted, and the clamping electric push rod mounting seat 1004i is flipped to the top vertically through the clamping mechanism rotating motor 1004h. The space above the bucket 1004b is completely emptied, so that it has more space for shoveling operations. At this time, the bucket rotating motor 1004c is used to rotate the bucket 1004b to shovel the waste. After shoveling, the waste is transported to the top of the mechanism to be dumped. The rotating motor connected between the mechanical arm and the processing mechanism 1004 is started to turn the bucket 1004b over, and the waste is poured into the mechanism. When the waste is bricks or concrete blocks, the pouring mechanism is the bar screen 2001. When the waste is gypsum, gypsum board, tile, wood, plastic, or metal, the pouring mechanism is the garbage discharge box 400. 1; If the waste is in strip or plate shape and has a complex structure, the bucket 1004b can be rotated by the bucket rotating motor 1004c to make it face vertically downward. At this time, the clamping mechanism remains retracted, and the clamping mechanism is controlled to flip back to its original position, so that the clamping electric push rod 1004j cooperates with the second electric clamping claw 1004k to clamp the complex waste below. It should be noted that whether to flip the clamping mechanism to the original position here can be adjusted according to actual conditions. Even if it is not returned to its original position, by adjusting the direction of the end of the mechanical arm and cooperating with the lifting and lowering of the clamping mechanism electric push rod 1004f, the waste can also be picked up well; Correspondingly, for special wastes such as metals, tiles, etc., the permanent magnetic suction cup 1004l and the electric vacuum suction cup on the clamping mechanism can be used for quick suction; when the waste put into the crushing pre-treatment part 2000 is processed and falls into the transfer box 2004, it can be picked up by the clamping mechanism. At this time, it is only necessary to flip the bucket mechanism and the clamping mechanism to make room for the upper and lower spaces for the first electric clamping claw 1004e of the clamping mechanism to extend, and then it clamps any group of clamping seats around the transfer box 2004, completes the picking and moves it to the top of the designated mechanism, and flips the entire processing mechanism 1004 to dump the material;

[0057] S2, crushing and screening pretreatment: after receiving the waste bricks and waste concrete blocks from the construction site, they are put into the bar screen 2001, the bar screen 2001, the first conveyor belt 2002 and the jaw crusher 2003 are started, the larger bricks and concrete blocks are sent from the uppermost branch of the first conveyor belt 2002 to the jaw crusher 2003 for crushing, and after crushing, they fall into the transfer box 2004 below the discharge port to wait for transfer and screening treatment, and the smaller brick particles and concrete particles directly enter the transfer box 2004 at the end through the two branches below the first conveyor belt 2002 to wait for transfer and screening treatment;

[0058] S3. Secondary screening and reprocessing: After the crushing and screening preprocessing is completed, the two groups of mechanical arms on the far left clamp the corresponding transfer box 2004 to the top of the middle opening of the highest screening layer 3004 of the screening box through the clamp mechanism, and the two groups of mechanical arms in the middle clamp a screen 3005 to the top of the middle opening of the two lower screening layers 3004 respectively. A transfer box can be placed on the bottom screening base 3002 to collect the smallest particles that fall. At this time, three groups of mechanical arms form a transfer box, screen, and transfer box channel from top to bottom. At this time, the three groups of mechanical arms can simulate the movement during vibration screening and the rotary screening operation. It should be noted that there is another group of mechanical arms at this time, which can According to the actual screening situation, the position of the clamp mechanism is adjusted so that it also clamps a screen 3005 to assist the screen layer to perform more intense screening and improve the screening efficiency. Because the screening layer is specially designed in a funnel shape, the larger space on the upper part allows all the aggregates falling from the upper screen to be caught, and the screen below it can cover the entire material discharge area of ​​the upper funnel, so that the screening effect is guaranteed. After the screening is completed, the mechanical arm can move the screen and the transfer box to the top of the aggregate storage box 3001, flip and unload for storage. If the screening result is not satisfactory or finer screening is still required, the order of the upper and lower screens can be switched, and a finer screen can be clamped for repeated screening until the effect meets the requirements;

[0059] S4. Recycling and classification of other waste: When processing waste other than discarded bricks and concrete blocks, use the two sets of robotic arms on the far right to clamp or shovel the waste on the construction site and put it into the garbage discharge box 4001, start the second conveyor belt 4003, and open the electric valve at intervals to discharge the second conveyor belt at intervals, so that the areas between the partitions on the second conveyor belt are finally filled with waste. For waste that cannot pass through the electric valve, it can be directly taken out and put into the conveyor belt with the assistance of the robotic arm. At this time, start the image recognition camera 4004. The four sets of image recognition cameras detect the garbage images in the interval area of ​​the second conveyor belt 4003, compare and classify the garbage images through the semantic segmentation network model, and identify the waste that needs to be clamped in the area. The waste materials such as wood, plaster, tiles, plastics, metals, etc. are clamped and processed with the corresponding mechanical arms. For example, wood, plasterboard and tiles are clamped and placed in the electric cutting machine 4006 for cutting. After the cutting is completed, they are recycled and classified into the waste classification storage box 4005. For example, metals and plastics are respectively put into a group of crushers 4007 for crushing and then stored in the storage box below. After the conveyor belt performs several groups of detection, identification, clamping, processing and storage cycles, it is confirmed that there is no waste that needs to be identified in the conveyor belt, and the waste in the conveyor belt is determined to be impurity waste. The image recognition camera 4004 is used to detect whether the area in the partition is empty. If it is not empty, the mechanical arm is controlled to clamp the waste and store it in another separate group of waste classification storage boxes 4005 until it is completely empty. At this point, the entire light construction waste disposal process is completed.

[0060] The mobile light construction waste disposal method of the present invention can be directly applied to the existing light construction waste treatment and disposal. The light construction waste at the construction site is picked up by the processing mechanism 1004 on the multi-axis mechanical arm 1003. The bucket 1004b can be used for shoveling, and the clamping mechanism can be used for clamping. For metal waste, the electric permanent magnetic suction cup 1004l can be used for suction, and smooth waste such as tiles can be sucked by an electric vacuum suction cup. It can effectively deal with various types of construction waste. The six groups of mechanical arms from left to right on the main body 1001 cooperate with the crushing from left to right. The pre-treatment part 2000, the screening and re-treatment part 3000, and the classification and screening part 4000 can crush, screen, and recycle bricks and concrete blocks, cut and recycle ceramic tiles, gypsum boards, and wood, and crush and recycle metals and plastics, thereby greatly improving the application range of the device and its adaptability to the treatment of various construction wastes. At the same time, because it is arranged on a main body 1001, which is similar in size to a pickup truck, it also has a strong adaptability to various complex terrain environments at the construction site, and can quickly recycle light construction waste scattered throughout the construction site.

[0061] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A mobile light construction waste disposal device, characterized in that: include: The main body part (1000), as the main body of the whole device, is provided with six groups of multi-axis mechanical arms (1003) from left to right, and the ends of the multi-axis mechanical arms (1003) are provided with processing mechanisms (1004); A crushing pre-processing part (2000) is installed on the main body part (1000), and is composed of a bar screen (2001), a first conveyor belt (2002), and a jaw crusher (2003) from right to left; The screening and reprocessing part (3000) is installed on the main body part (1000) and is located between the crushing preprocessing part (2000) and the classification and screening part (4000). The main body of the screening box is composed of a screening box, and a plurality of aggregate storage boxes (3001) are arranged in front and behind the screening box; the screening box is supported by a screening base (3002), and four vertical screening pillars (3003) are arranged around the screening box, and the top ends of the four vertical screening pillars (3003) are connected to a top plate; the screening pillars (3003) are arranged with screening layers (3004) at intervals in the vertical height; The classification and screening part (4000) is installed on the main body part (1000), and comprises a garbage discharge box (4001) and a sorting baffle (4002). The sorting baffle (4002) is a rectangular baffle, and a notched second conveyor belt (4003) is arranged inside the baffle. A fixed transmission belt baffle (4003b) is arranged on the periphery of the second conveyor belt (4003), and a conveyor belt partition (4003a) moving with the second conveyor belt (4003) is arranged above the baffle; image recognition cameras (4004) are arranged on the inner side of the sorting baffle (4002) near the second conveyor belt (4003) and the mechanical arm; a plurality of garbage classification storage boxes (4005) and an electric cutter (4006) are arranged on one side of the sorting baffle (4002), and two crushers (4007) are arranged on the other side; The processing mechanism (1004) is composed of a processing mechanism mounting seat (1004a) mounted on the end of the multi-axis mechanical arm (1003) via a rotating motor to form a base, and a bucket mechanism, a clamping mechanism, and a clamping mechanism are sequentially mounted on the outer surface of the processing mechanism mounting seat (1004a) from bottom to top; The bucket mechanism is composed of a bucket (1004b) that rotates around an output shaft of a bucket rotating motor (1004c); The clamp mechanism is mainly composed of two clamp electric push rods (1004d) passing through the processing mechanism mounting seat (1004a) in the upper area of ​​the bucket (1004b), and the output shaft thereof faces the direction of the bucket (1004b), and the output shaft thereof is connected to the first electric clamping claw (1004e), and the horizontal positions of the above two clamp electric push rods (1004d) are located at the left and right ends of the bucket support rod, and there is a certain distance between them and the bucket support rod; The clamping mechanism is mainly composed of two clamping mechanism electric push rods (1004f) installed between the clamp electric push rod (1004d) and the bucket support rod; The clamping mechanism electric push rod (1004f) is oriented vertically upward, and its end is connected to a horizontal clamping mechanism mounting seat (1004g). A clamping mechanism rotating motor (1004h) is provided on one side of the clamping mechanism mounting seat (1004g), and a horizontal clamping electric push rod mounting seat (1004i) is connected to its output shaft. A plurality of clamping electric push rods (1004j) facing vertically downward are provided around the upper surface of the clamping electric push rod mounting seat (1004i), and its output shaft passes through the clamping electric push rod mounting seat (1004i) and is connected to a second electric clamp (1004k). An electric permanent magnetic suction cup (1004l) is provided in the middle space of the lower surface of the clamping electric push rod mounting seat (1004i). For a robotic arm close to the electric cutting machine (4006), the middle space of its lower surface is set as an electric vacuum suction cup for sucking up tile materials.

2. The mobile light construction waste disposal device according to claim 1 is characterized in that: The bar screen (2001) is used to screen out large pieces of waste and waste particles and output them to the first conveyor belt (2002). The first conveyor belt (2002) is provided with three upper and lower branches. The uppermost branch leads to the discharge port of the jaw crusher (2003), and the lower two branches lead to two inward areas. Transfer boxes (2004) are provided below the areas. The jaw crusher (2003) is used to crush larger bricks and waste concrete blocks, and a transfer box (2004) is also provided below the discharge port; The transfer box (2004) is composed of a main box body with an opening at the top. A group of clamping seats are arranged around the transfer box (2004), with two seats in each group, and the position intervals match the two first electric clamps (1004e) of the clamp mechanism.

3. The mobile light construction waste disposal device according to claim 2 is characterized in that: The screening layer (3004) is funnel-shaped, with a rectangular opening at the bottom thereof, the area of ​​which is smaller than the discharge area at the bottom of the screen (3005); the screen (3005) is also provided with a group of clamping seats on all four sides, corresponding to the first electric clamping jaw (1004e) of the clamping mechanism.

4. A mobile light construction waste disposal method using the device according to claim 3, characterized in that: The steps are: S1. Mobile picking: When it is necessary to pick up waste at the construction site, the picking method is considered in combination with the actual type of waste. First, the main body (1001) is moved to the vicinity of the waste, and the four groups of multi-axis mechanical arms (1003) around it are started to make the processing mechanism (1004) at the end close to the waste. If the waste is powder or granular, the bucket (1004b) is used to scoop it. At this time, the first electric clamping claw (1004e) of the clamping mechanism is retracted, and the second electric clamping claw (1004k) of the clamping mechanism is retracted and the motor (1004) of the clamping mechanism is rotated. h) Flip the gripping electric push rod mounting seat (1004i) to an upward vertical orientation, so that the space above the bucket (1004b) is completely emptied, so that it has more space for shoveling operations. At this time, cooperate with the bucket rotating motor (1004c) to rotate the bucket (1004b) to shovel the waste, and after shoveling, transport the waste to the top of the mechanism to be dumped, start the rotating motor connected between the mechanical arm and the processing mechanism (1004), so that the bucket (1004b) is flipped, and the waste is poured into the mechanism. When the waste is bricks or concrete blocks, the machine poured in The structure is a bar screen (2001). When the waste is gypsum, gypsum board, tile, wood, plastic, or metal, the pouring mechanism is a garbage discharge box (4001). If the waste is in the shape of strips or plates or has a complex structure, the bucket (1004b) can be rotated by the bucket rotating motor (1004c) to make it face vertically downward. At this time, the clamping mechanism remains retracted, and the clamping mechanism is controlled to flip back to its original position, so that the clamping electric push rod (1004j) cooperates with the second electric clamping claw (1004k) to clamp the complex waste below. For special waste, the clamping mechanism can be used. The electric permanent magnetic suction cup (1004l) and the electric vacuum suction cup on the picking mechanism are used for quick suction; when the waste put into the crushing pre-treatment part (2000) is processed and falls into the transfer box (2004), it is picked up by the clamping mechanism. At this time, it is only necessary to flip the bucket mechanism and the clamping mechanism to make room for the upper and lower spaces for the first electric clamping claw (1004e) of the clamping mechanism to extend, and then it clamps any group of clamping seats around the transfer box (2004), completes the picking and moves it to the top of the designated mechanism, and flips the entire processing mechanism (1004) to dump the material; S2, crushing and screening pretreatment: after receiving the waste bricks and waste concrete blocks from the construction site, they are put into the bar screen (2001), the bar screen (2001), the first conveyor belt (2002) and the jaw crusher (2003) are started, and the larger bricks and concrete blocks are sent from the uppermost branch of the first conveyor belt (2002) to the jaw crusher (2003) for crushing, and after crushing, they fall into the transfer box (2004) below the discharge port to wait for transfer and screening treatment, while the smaller brick particles and concrete particles directly enter the transfer box (2004) at the end through the two branches below the first conveyor belt (2002) to wait for transfer and screening treatment; S3, secondary screening and reprocessing: after the crushing and screening preprocessing is completed, the two groups of mechanical arms on the left end clamp the corresponding transfer box (2004) to the top of the middle opening of the highest screening layer (3004) of the screening box through the clamp mechanism, and the two groups of mechanical arms in the middle clamp a screen (3005) to the top of the middle opening of the two lower screening layers (3004). A transfer box can be placed on the bottom screening base (3002) to collect the smallest particles that fall. At this time, three groups of mechanical arms form a transfer box, screen, and transfer box channel from top to bottom. At this time, the three groups of mechanical arms simulate the movement during vibration screening and the rotary screening operation. After the screening is completed, the mechanical arms move the screen and transfer box to the top of the aggregate storage box (3001), flip and unload for storage. If the screening result is not satisfactory or finer screening is still required, the order of the upper and lower screens is switched, and a finer screen is clamped for repeated screening until the effect meets the requirements; S4. Recycling and classification of other waste: When processing waste other than discarded bricks and concrete blocks, use the two sets of mechanical arms on the far right to clamp or shovel the waste on the construction site and put it into the garbage discharge box (4001), start the second conveyor belt (4003), and open the electric valve at intervals to discharge the waste from the second conveyor belt, so that the areas between the partitions on the second conveyor belt are finally filled with waste. For waste that cannot pass through the electric valve, it can be directly taken out and put into the conveyor belt with the assistance of the mechanical arm. At this time, start the image recognition camera (4004). The four sets of image recognition cameras detect the garbage images in the interval area of ​​the second conveyor belt (4003), compare and classify the garbage images through the semantic segmentation network model, and identify the area. The waste that needs to be clamped is then clamped and processed with the corresponding mechanical arm. The wood, gypsum board and ceramic tile are clamped and placed in the electric cutting machine (4006) for cutting. After the cutting is completed, they are collected and classified and put into the garbage classification storage box (4005). The metal and plastic are respectively put into a group of crushers (4007) for crushing and then stored in the storage box below. After the conveyor belt performs several groups of detection, identification, clamping, processing and storage cycles, it is confirmed that there is no waste that needs to be identified in the conveyor belt, and the waste in the conveyor belt is determined to be impurity waste. The image recognition camera (4004) is used to detect whether the area in the partition is empty. If it is not empty, the mechanical arm is controlled to clamp the waste and store it in another separate group of garbage classification storage boxes (4005) until it is all empty; At this point, the entire light construction waste disposal process is completed.

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