An automated hazardous waste feeding system

Abstract

This utility model discloses an automated hazardous waste loading system, including a storage warehouse, AGVs (Automated Guided Vehicles), a transfer conveyor belt, and a robotic arm. The storage warehouse includes an incoming material inspection area, an automated storage and retrieval system (AS / RS), and an outgoing area. The AS / RS is equipped with an inbound and outbound elevator platform corresponding to both the incoming and outgoing areas. The incoming material inspection area includes an inbound conveyor belt aligned with the inbound elevator platform, with a shape inspection area, a barcode weighing area, and a pallet stacking area sequentially located from the inlet to the outlet. The outgoing area includes an outgoing conveyor belt aligned with the outgoing elevator platform. A pallet unloading machine and an outgoing transfer machine are installed at the inlet and outlet of the outgoing conveyor belt, respectively. The AGVs are positioned between the outgoing area and the transfer conveyor belt. The transfer conveyor belt is positioned between the AGVs' unloading position and the robotic arm's loading position. The robotic arm is positioned between the end of the transfer conveyor belt and the small-package feeding equipment of the incineration line. This utility model reduces manual workload and personnel contact with waste.

Description

Technical Field

[0001] This utility model relates to an automated hazardous waste loading system. Background Technology

[0002] Currently, hazardous waste incineration plants generally rely entirely on manual labor for small-package waste disposal, transportation, and loading. Although some processes utilize automated equipment, the overall level of automation is low, resulting in the following drawbacks and shortcomings:

[0003] 1. Labor costs and efficiency

[0004] From the perspective of inventory unloading, fully manual operation requires a significant investment of manpower. Prolonged, high-intensity work easily leads to employee fatigue and low efficiency. Furthermore, the slow unloading speed makes it difficult to meet the demands of large-scale production, impacting the overall processing capacity and operational efficiency of the enterprise. During transportation, manual handling is not only labor-intensive but also has limited speed, resulting in longer transportation cycles and increased time for hazardous waste to circulate within the plant, further reducing production efficiency. Simultaneously, manual transportation is prone to problems such as unscientific handling routes and unreasonable personnel allocation, leading to wasted manpower and increased labor costs. In the feeding stage, manual operation is also inefficient, making it difficult to achieve accurate and rapid feeding, affecting the continuous and stable operation of the incineration equipment and reducing its utilization efficiency.

[0005] 2. Safety risks

[0006] Hazardous waste possesses dangerous characteristics such as toxicity, corrosiveness, and flammability. During manual handling, the likelihood of employees directly contacting hazardous waste increases significantly, posing a high safety risk. When unloading hazardous waste from storage, improper handling may cause packaging damage, leading to leakage and harming employee health, such as through skin contact or inhalation of harmful gases. During transportation, manual handling is unstable and prone to collisions and drops, potentially causing hazardous waste leaks that not only threaten employee safety but also pollute the surrounding environment. Improper manual handling during loading may result in unstable amounts of hazardous waste entering the incineration equipment, causing equipment malfunctions or even safety accidents, such as incomplete combustion leading to the leakage of harmful gases.

[0007] 3. Accuracy and quality control

[0008] Manual operation is insufficient to guarantee accuracy and consistency. When discharging hazardous waste from storage, manual recording and identification are prone to errors, potentially leading to discrepancies between the type and quantity of hazardous waste discharged and production needs, impacting subsequent incineration efficiency. During transportation, the arbitrariness of manual handling can result in damage to hazardous waste packaging or mixing, disrupting the original state of the waste and creating difficulties for subsequent treatment. In the feeding stage, precise control of the amount and speed of hazardous waste added manually can lead to poor incineration results, excessive pollutant emissions, failure to meet environmental protection requirements, and hinder the company's sustainable development. Utility Model Content

[0009] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an automated hazardous waste loading system that can not only reduce the workload of manpower, but also reduce personnel contact with waste.

[0010] The purpose of this utility model is achieved as follows: an automated hazardous waste feeding system for delivering small packages of hazardous waste from a storage warehouse to the small package feeding equipment on an incineration line; the hazardous waste feeding system includes a storage warehouse, AGV vehicles, a transfer conveyor belt, and a robotic arm; wherein,

[0011] The storage warehouse includes an automated warehouse, an incoming material inspection area, and an outgoing material area; the incoming material inspection area, the automated warehouse, and the outgoing material area are arranged in a U-shape.

[0012] The automated warehouse is a steel structure high-rise rack, and each of the incoming material inspection area and the outgoing material area is equipped with an inbound elevator platform and an outgoing elevator platform respectively.

[0013] The incoming material inspection area includes an inbound conveyor belt and a first master pallet temporary storage bin. The inbound conveyor belt is aligned with the inbound elevator platform. From the inlet to the outlet of the inbound conveyor belt, a shape inspection area, a barcode weighing area, and a pallet stacking area are sequentially arranged. A frame is installed above the shape inspection area. An incoming material photoelectric sensor is installed on each side of the inlet end of the inbound conveyor belt, and a shape detector is installed on the top of each side of the frame. A barcode scanner is installed on one side of the inbound conveyor belt corresponding to the barcode weighing area, and a weighing sensor is installed on the inbound conveyor belt corresponding to the barcode weighing area. A pallet stacking machine is installed on the inbound conveyor belt corresponding to the pallet stacking area. The first master pallet temporary storage bin and the pallet stacking machine are located on the outside of the inbound conveyor belt.

[0014] The outbound area includes an outbound conveyor belt, a tray removal machine, an outbound transplanting machine, and a second mother pallet temporary storage compartment; the outbound conveyor belt is aligned with the outbound elevator platform; the tray removal machine is installed at the entrance of the outbound conveyor belt; the outbound transplanting machine is located at the exit of the outbound conveyor belt; the second mother pallet temporary storage compartment is located on the outside of the outbound conveyor belt, corresponding to the tray removal machine.

[0015] The AGV is located between the outbound area of ​​the storage warehouse and the transfer conveyor belt. The AGV uses the outbound transplanter to pick up small packages of hazardous waste from the outbound conveyor belt.

[0016] The transfer conveyor belt is located between the unloading position of the AGV vehicle and the loading position of the robotic arm. A loading and transplanting machine is installed on the feeding end side of the transfer conveyor belt, which is the unloading position of the AGV vehicle.

[0017] The robotic arm is positioned between the end of the transfer conveyor belt and the small package feeding device of the incineration line.

[0018] The aforementioned automated hazardous waste loading system includes an AGV equipped with high-precision navigation equipment, obstacle avoidance sensors, environmental perception sensors, load stability and anti-tipping sensors, and a machine vision system.

[0019] In the aforementioned automated hazardous waste loading system, the transfer conveyor belt is equipped with a pallet position sensor, a speed sensor, and a cylinder positioning device; the loading and transfer machine is equipped with a position sensor, a pallet positioning and attitude sensor, a clamping force and load monitoring sensor, and a path obstacle detection sensor.

[0020] The aforementioned automated hazardous waste loading system includes a visual positioning device, an adaptive gripper mechanism, and a transfer process monitoring device on the robotic arm; the transfer process monitoring device includes a robotic arm joint motion sensing sensor, a path obstacle avoidance sensor, and an overturning detection sensor.

[0021] The features of this utility model's automated hazardous waste loading system are:

[0022] 1. By using a storage warehouse, waste materials can be automatically loaded and unloaded. AGV vehicles, transplanting machines, transfer conveyors and robotic arms can transfer the outbound waste materials to the small-package feeding equipment on the incineration line, so that the waste materials have little contact with personnel. This not only reduces the workload of manpower, but also effectively reduces safety risks and reduces the risk of hazardous waste leakage accidents.

[0023] 2. Through intelligent storage warehouses, scientific and accurate refined management of feeding and incineration can be achieved, improving the incineration effect of hazardous waste and meeting environmental protection requirements. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the automated hazardous waste loading system of this utility model;

[0025] Figure 2 This is a plan view of the storage area in the automated hazardous waste loading system of this utility model;

[0026] Figure 3 yes Figure 2AA direction view;

[0027] Figure 4 yes Figure 2 BB view in the middle;

[0028] Figure 5 This is a plan view of the conveyor belt, robotic arm, and incineration line in the automated hazardous waste feeding system of this utility model. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] Please see Figures 1 to 5 The present invention relates to an automated hazardous waste feeding system, which is used to deliver small packages of hazardous waste in the storage area to the small package feeding equipment 500 on the incineration line; the hazardous waste feeding system includes a storage warehouse 100, an AGV vehicle 200, a transfer conveyor belt 300 and a robotic arm 400.

[0031] Storage warehouse 100 includes an automated warehouse 10, an incoming material inspection area 1A, and an outgoing material inspection area 1B; wherein,

[0032] The incoming material inspection area 1A, the automated warehouse 10, and the outgoing area 1B are arranged in a U-shape.

[0033] The automated warehouse 10 is equipped with steel high-rise racks 10A, which are connected by rails 19. Mobile shuttles are installed on the rails 19 to carry materials in and out of the warehouse. Corresponding to the material inspection area 1A and the outbound area 1B, there is an inbound hoist platform 11A and an outbound hoist platform 11B. The inbound hoist platform 11A and the outbound hoist platform 11B are each driven by a motor 110 for lifting.

[0034] The incoming material inspection area 1A includes an inbound conveyor belt 11 and a first mother pallet temporary storage bin 13. The inbound conveyor belt 11 is aligned with the inbound elevator platform 11A. From the entrance to the exit of the inbound conveyor belt 11, a shape inspection area, a barcode weighing area, and a pallet stacking area are set sequentially. A frame 14 is installed above the shape inspection area. An incoming material photoelectric sensor 101 is installed on each side of the entrance end of the inbound conveyor belt 11, and a shape detector 102 is installed on the top of each side of the frame 14 to detect the height and width of the material, ensuring the safe transportation of the material during the warehousing process. A barcode scanner 103 is installed on one side of the inbound conveyor belt 11 corresponding to the barcode weighing area, and a weighing sensor 104 is installed on the inbound conveyor belt 11 in the barcode weighing area. A pallet stacking machine 12 is installed on the inbound conveyor belt 11 corresponding to the pallet stacking area. The first mother pallet temporary storage bin 13 is located on the outside of the inbound conveyor belt 11, corresponding to the pallet stacking machine 12.

[0035] The outbound area 1B includes an outbound conveyor belt 15, a tray removal machine 16, an outbound transplanting machine 18, and a second mother pallet temporary storage compartment 17. The outbound conveyor belt 15 is aligned with the outbound elevator platform 11B. The tray removal machine 16 is installed at the entrance of the outbound conveyor belt 15. The outbound transplanting machine 18 is located at the exit of the outbound conveyor belt 15. The second mother pallet temporary storage compartment 17 is located on the outside of the outbound conveyor belt 15, corresponding to the tray removal machine 16.

[0036] An AGV (Automated Guided Vehicle) 200 is positioned between the outbound area 1B of the storage warehouse 100 and the transfer conveyor belt 300. This AGV 200 uses an outbound transfer machine 18 to receive small packages of hazardous waste from the outbound conveyor belt 15. The AGV 200 is equipped with high-precision navigation equipment, obstacle avoidance sensors, environmental perception sensors, load stability and anti-tipping sensors, and a machine vision system. The high-precision navigation equipment guides the AGV 200 to transfer waste materials between the storage warehouse 100 and the transfer conveyor belt 300 along a predetermined route. The obstacle avoidance sensors enable the AGV 200 to detect and avoid obstacles during operation. The environmental perception sensors monitor production environment data in real time to ensure equipment safety. The load stability and anti-tipping sensors ensure stable transportation of the AGV 200 in outdoor environments, preventing material tipping due to road conditions. The machine vision system is used to accurately position the material pallets when entering the loading and unloading points, so that the outbound transfer machine 18 can transfer material pallets between the outbound conveyor belt 15 and the AGV vehicle 200 according to a predetermined stroke.

[0037] A transfer conveyor belt 300 is positioned between the unloading position of the AGV vehicle 200 and the loading position of the robotic arm 400 to facilitate the transport of material pallets when the AGV vehicle 200 cannot reach the loading position of the robotic arm 400. The transfer conveyor belt 300 is equipped with a pallet position sensor 301, a speed sensor 302, and a cylinder positioning device 303. A loading and transfer machine 30 is installed on the feeding end of the transfer conveyor belt 300, i.e., the unloading position of the AGV vehicle 200. This loading and transfer machine 30 is equipped with a position sensor, a pallet positioning and attitude sensor, a clamping force and load monitoring sensor, and a path obstacle detection sensor. The position sensor is used to sense the position of the AGV vehicle 200. The pallet positioning and attitude sensor is used to position the pallet and align it with the loading and transfer machine 30. The clamping force and load monitoring sensor ensures that the loading and transfer machine 30 applies appropriate force when gripping the pallet, preventing slippage or damage. The path obstacle detection sensor monitors for sudden obstacles on the pallet's transfer path.

[0038] The robotic arm 400 is located between the tail end of the transfer conveyor belt 300 and the small package feeding device 500 of the incineration line. The robotic arm 400 is equipped with a visual positioning device, an adaptive gripper mechanism, and a transplanting process monitoring device. The transplanting process monitoring device includes a robotic arm joint motion sensing sensor, a path obstacle avoidance sensor, and a tipping detection sensor.

[0039] The working process of this automated hazardous waste loading system is as follows:

[0040] 1. Waste material warehousing: When small packages of waste material arrive at the factory in pallet form, they are manually transported to the entrance of the inbound conveyor belt 11 in the incoming material inspection area 1A of storage warehouse 100. Barcodes are affixed to the designated locations, and the equipment is started. The inbound conveyor belt 11 carries the pallets into the shape inspection area, where shape inspection is completed, barcodes are scanned, and weight is measured. Then, the pallets enter the stacking area and are stacked on the mother pallets sent out by the first mother pallet temporary storage bin 13. After that, they are transported by a four-way shuttle to the corresponding storage location in the automated warehouse 10, and the storage location is recorded in the management system.

[0041] 2. Waste material outbound: When a waste material needs to be incinerated, the management system initiates an outbound operation. The waste material is moved from the storage location to the outbound area 1B via a four-way conveyor belt. First, the mother pallet at the bottom of the original pallet is removed by the pallet unpacking machine 16. Then, the original pallet is conveyed to the AGV vehicle 200 via the exit conveyor belt 15. The removed mother pallet is placed in the second mother pallet temporary storage bin 17.

[0042] 3. Transfer and Incineration: The AGV 200 carries the pallets of small packaged waste to be incinerated and transports them to the small package feeding equipment 500 of the incineration line according to the predetermined route. The pallets are then moved to the transfer conveyor belt 300 by the loading and transfer machine 30 (the presence and length of the transfer conveyor belt 300 depend on the project site space and the convenience of AGV vehicle driving and parking). The transfer conveyor belt 300 then transports the waste to the robotic arm 400. The robotic arm 400 then uses a clamping device to unpack the small packaged waste and place it on the small package feeding equipment 500 of the incineration line according to the set quantity.

[0043] The above embodiments are for illustrative purposes only and are not intended to limit the present invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should also fall within the scope of the present invention and should be defined by the claims.

Claims

1. An automated hazardous waste feeding system for delivering small packages of hazardous waste from a storage warehouse to a small package feeding device on an incineration line; the hazardous waste feeding system includes a storage warehouse, an AGV (Automated Guided Vehicle), a transfer conveyor belt, and a robotic arm; characterized in that, The storage warehouse includes an automated warehouse, an incoming material inspection area, and an outgoing material area; the incoming material inspection area, the automated warehouse, and the outgoing material area are arranged in a U-shape. The automated warehouse is a steel structure high-rise rack, and each of the incoming material inspection area and the outgoing material area is equipped with an inbound elevator platform and an outgoing elevator platform respectively. The incoming material inspection area includes an inbound conveyor belt and a first master pallet temporary storage bin. The inbound conveyor belt is aligned with the inbound elevator platform. From the inlet to the outlet of the inbound conveyor belt, a shape inspection area, a barcode weighing area, and a pallet stacking area are sequentially arranged. A frame is installed above the shape inspection area. An incoming material photoelectric sensor is installed on each side of the inlet end of the inbound conveyor belt, and a shape detector is installed on the top of each side of the frame. A barcode scanner is installed on one side of the inbound conveyor belt corresponding to the barcode weighing area, and a weighing sensor is installed on the inbound conveyor belt corresponding to the barcode weighing area. A pallet stacking machine is installed on the inbound conveyor belt corresponding to the pallet stacking area. The first master pallet temporary storage bin and the pallet stacking machine are located on the outside of the inbound conveyor belt. The outbound area includes an outbound conveyor belt, a tray removal machine, an outbound transplanting machine, and a second mother pallet temporary storage compartment; the outbound conveyor belt is aligned with the outbound elevator platform; the tray removal machine is installed at the entrance of the outbound conveyor belt; the outbound transplanting machine is located at the exit of the outbound conveyor belt; the second mother pallet temporary storage compartment is located on the outside of the outbound conveyor belt, corresponding to the tray removal machine. The AGV is located between the outbound area of ​​the storage warehouse and the transfer conveyor belt. The AGV uses the outbound transplanter to pick up small packages of hazardous waste from the outbound conveyor belt. The transfer conveyor belt is located between the unloading position of the AGV vehicle and the loading position of the robotic arm. A loading and transplanting machine is installed on the feeding end side of the transfer conveyor belt, which is the unloading position of the AGV vehicle. The robotic arm is positioned between the end of the transfer conveyor belt and the small package feeding device of the incineration line.

2. The automated hazardous waste feeding system of claim 1, wherein, The AGV is equipped with high-precision navigation equipment, obstacle avoidance sensors, environmental perception sensors, load stability and anti-tipping sensors, and a machine vision system.

3. The automated hazardous waste feeding system of claim 1, wherein, The transfer conveyor belt is equipped with a pallet position sensor, a speed sensor, and a cylinder positioning device; the loading and transfer machine is equipped with a position sensor, a pallet positioning and attitude sensor, a clamping force and load monitoring sensor, and a path obstacle detection sensor.

4. The automated hazardous waste feeding system of claim 1, wherein, The robotic arm is equipped with a visual positioning device, an adaptive gripper mechanism, and a transplanting process monitoring device; the transplanting process monitoring device includes a robotic arm joint motion sensing sensor, a path obstacle avoidance sensor, and a tipping detection sensor.

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