Foreign matter removing apparatus and foreign matter removing method

Abstract

To more surely remove foreign matter from a conveyed object.SOLUTION: The foreign matter removal device includes a picking unit that grips and picks up foreign matter contained in a transport object transported in a transport direction by a transport device with a picking member, a gripping detection unit that moves between a standby position and a measurement position, has a plate to which a strain gauge is attached, and detects a gripping state of the picking member, and a control unit that acquires a gripping time from output of a picking command to the picking unit to detection of the gripping state and controls the picking unit to pick up foreign matter based on the acquired gripping time.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This specification discloses a foreign matter removal device and a foreign matter removal method. [Background technology]

[0002] A conventional robot hand has been proposed as a collection device for collecting objects, in which a load cell is held between clamps and the relationship between the load cell output change when the applied voltage to an electric pressure regulator valve is changed is stored in advance as a table in a ROM, and the controller controls the applied voltage to the electric pressure regulator valve based on this table (see, for example, Patent Document 1). This device is said to be easy to handle and control, and to reduce costs. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-278065 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the sampling device in Patent Document 1 grasps the load cell and controls the voltage applied to the electric pressurizing valve based on the change in its output, making it possible to eliminate the need for a strain gauge, but it does not grasp the object being transported in a timely manner. It is desirable for the sampling device to efficiently extract specific objects from the transported objects.

[0005] The present disclosure has been made to solve such problems, and its main object is to provide a foreign matter removal device and a foreign matter removal method that can more reliably remove foreign matter from transported objects. [Means for solving the problem]

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] That is, the foreign matter removal device disclosed in this specification is a collection unit that grasps and collects foreign matter contained in the transported object transported in the transport direction by the transport device with a collection member; a gripping detection unit that moves between a standby position and a measurement position, has a plate to which a strain gauge is attached, and detects a gripping state by the sampling member; a control unit that acquires a gripping time from the output of a collection command to the collection unit to the detection of the gripped state, and controls the collection unit to collect the foreign object based on the acquired gripping time; It is equipped with the following.

[0008] This foreign matter removal device uses a strain gauge to determine the gripping time of the collection member, allowing for more accurate measurement of the gripping time with a simple structure, and ultimately allowing for more reliable removal of foreign matter from the transported material using this gripping time. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram showing an example of the configuration of a recycling system 10. [Figure 2] FIG. 2 is an explanatory diagram showing an example of the schematic configuration of a foreign matter removal device 30. [Figure 3] FIG. 2 is an explanatory diagram showing an example of a schematic configuration of a collection unit 40. [Figure 4] 3A and 3B are explanatory diagrams showing examples of captured images 65 and 66 of the detection unit 31. [Figure 5] 3 is an explanatory diagram of a support unit 35 and a grip detection unit 55. FIG. [Figure 6] 10 is a flowchart showing an example of a foreign matter removal processing routine. [Figure 7] 10 is a flowchart showing an example of a gripping time acquisition processing routine. [Figure 8] FIG. 10 is an explanatory diagram showing an example of a gripping time acquisition process. [Figure 9] FIG. 10 is an explanatory diagram showing an example of the discharging operation of the collection unit 40. [Figure 10] FIG. 10 is an explanatory diagram showing an example of a collection unit 40 equipped with another grip detection unit 55B. [Figure 11] FIG. 10 is an explanatory diagram showing an example of a foreign matter removal device 30B equipped with another discharge section 50B. [Figure 12] FIG. 10 is an explanatory diagram showing an example of a foreign body removal device 30C equipped with another collection section 40C. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing an example of the configuration of a recycling system 10 that recycles waste materials. FIG. 2 is an explanatory diagram showing an example of the schematic configuration of a foreign matter removal device 30. FIG. 3 is a perspective view showing an example of the schematic configuration of a collection unit 40. FIG. 4 is an explanatory diagram showing examples of captured images 65, 66 captured by the foreign matter removal device 30 and the detection unit 31. FIG. 5 is an explanatory diagram of the support unit 35 and the grip detection unit 55, with FIG. 5A being the standby position and FIG. 5B being the measurement position. Note that in this embodiment, the left-right direction, the front-rear direction, and the up-down direction are as shown in FIGS. 1 to 5. In this embodiment, the direction in which the processing material 12 as the transported object is transported is referred to as the transport direction D, and the direction horizontally intersecting the transport direction D is referred to as the intersecting direction C.

[0011] The material 12 to be processed as a transported object in the recycling system 10 is a mixture of waste materials 13 to be recycled, such as stone, sand, asphalt, and concrete, and foreign matter 14, which is a target object including paper, resin, wood, and metal. The foreign matter 14 includes rigid bodies that are resistant to shape change, as well as flexible objects and long objects that are specifically long in a specific direction. As shown in FIG. 1, the recycling system 10 includes a primary crusher 15, a primary magnetic separator 16, a screening machine 17, a secondary crusher 18, a secondary magnetic separator 19, a foreign matter removal device 30, and conveying devices 20-25.

[0012] The primary crusher 15 is a device that performs primary crushing of the raw material, the processing material 12. This primary crusher 15 crushes the processing material 12, for example, to a predetermined primary size or smaller (e.g., 40 cm or smaller). The primary magnetic separator 16 is a device that uses magnetic force to remove magnetic foreign matter contained in the processing material 12. The screener 17 is a device that separates the processing material 12 of a primary size or larger from that of a smaller size by, for example, passing the processing material 12 over a mesh. The secondary crusher 18 is a device that performs secondary crushing of the processing material 12 to a size smaller than that of the primary crusher 15. This secondary crusher 18 crushes the processing material 12 to a predetermined secondary size or smaller (e.g., 10 cm or smaller). The secondary magnetic separator 19 is a device that removes magnetic material from the processing material 12 that was not completely removed by the primary magnetic separator 16. In addition, in the recycling system 10, for example, the material to be treated 12 may be repeatedly transported multiple times along the transport path R of the primary magnetic separator 16, the screener 17, and the foreign matter remover 30, or the secondary crusher 18, the secondary magnetic separator 19, and the foreign matter remover 30. The transport devices 20-25 as the transport line are devices that place the material to be treated 12 on the transport surface of the transport path R and transport it along the transport direction D, and are configured as, for example, belt conveyors. In addition, the transport devices 20-25 may be configured in a manner other than a belt conveyor, as long as they are capable of transporting the material to be treated 12.

[0013] The foreign matter removal device 30 is configured as a device for collecting objects. The material 12 to be treated is placed on the conveying surface of the conveying device 24, and the material 12 is conveyed along the conveying path R. The foreign matter removal device 30 is configured as a waste material processing device that removes the foreign matter 14 from the waste material 13 and recycles the waste material. As shown in FIG. 1, the foreign matter removal device 30 may be disposed downstream of the secondary crusher 18 and the secondary magnetic separator 19. The foreign matter removal device 30 may also be used to process relatively small material 12, e.g., 10 to 20 cm or less. The foreign matter removal device 30 may also be disposed downstream of the primary crusher 15 and the primary magnetic separator 16, depending on the size of the material 12 and the weight per unit volume of the material 12. 2 to 5, the foreign matter removal device 30 is composed of a detection unit 31, a collection section 40, a discharge section 50, a grip detection section 55, and a control device 60. The foreign matter removal device 30 also includes a storage section 37 outside the transport path R that stores the target object.

[0014] The conveying device 24 places the material 12 to be treated on its conveying surface and conveys the material 12 at a predetermined conveying speed. The conveying device 24 conveys, for example, material 12 that has been processed in the secondary crusher 18 and the secondary magnetic separator 19. The conveying device 24 is disposed, for example, at an angle that allows the material 12 to be stably conveyed without rolling off. The conveying device 24 is disposed so that the material moves upward along the conveying direction D. The leading end of the conveying device 24 in the conveying direction D is usually disposed above the next conveying device 25, so the conveying device 24 is disposed in the direction in which the material moves upward. The angle θ of the conveying device 24 may be, for example, in the range of 0° to 20°, or may be 18° or less, or may be 16° or less.

[0015] The detection unit 31 is a device that detects the presence and condition of waste material 13 and foreign matter 14. The detection unit 31 is located upstream of the collection unit 40 in the conveying direction D. The detection unit 31 includes a detection unit 32 that detects the waste material 13 and the treatment material 12 containing the foreign matter 14 being conveyed by the conveying device 24, and a detection unit 33 that detects the height of the treatment material being conveyed by the conveying device 24. The detection unit 32 may be configured, for example, as a camera that captures images of the treatment material 12 being placed on the conveying surface of the conveying device 24. The detection unit 32 captures an image of a predetermined area including the treatment material 12 from above the conveying surface of the conveying device 24 and outputs the image data to the control device 60. As shown in FIG. 4 , the detection unit 32 captures an image 65 of the conveying path R and an image 66 that includes the waste material 13 and foreign matter 14. The image 65 is an example of an image captured when no treatment material 12 is being conveyed on the conveying device 24. The captured image 66 is an example of an image of the treatment material 12 and foreign matter 14 being transported on the transport device 24. The control device 60 can use machine learning to determine the material of the foreign matter 14 based on information about the captured image (e.g., image brightness) captured by the detection unit 32. The detection unit 33 detects the height of the treatment material 12 and other foreign matter on the transport device 24. The detection unit 33 may be located, for example, upstream of the collection unit 40 in the transport direction D and configured as a stereo camera equipped with two cameras. Alternatively, the detection unit 33 may be a sensor that detects reflected waves obtained by irradiating the transport surface and obtains the height of the reflection position. The detection unit 32 and the detection unit 33 are held above the transport surface of the transport device 24 by a gantry installed so as to straddle the transport device 24 in the left-right direction. The detection unit 33 outputs information about the detected height of the treatment material 12 to the control device 60.

[0016] The storage unit 37 is a dust box that serves as a disposal unit for storing foreign matter 14. The storage unit 37 is disposed further outside the support unit 35 of the collection unit 40, which is disposed above the transport path R (see FIG. 3, etc.). The foreign matter 14 collected by the collection unit 40 is dropped into this storage unit 37 via the discharge unit 50. The storage unit 37 may have multiple storage containers to separate the foreign matter 14 according to its weight or material.

[0017] The sampling unit 40 is a device that uses a sampling member 49 to sample and remove target objects such as foreign matter 14 contained in the treatment material 12, which is a transported object transported in the transport direction D by the transport device 24. The sampling unit 40 is configured as a movement mechanism that moves the sampling member 49, for example, in a cross direction C along the X-axis direction and in the transport direction D along the Y-axis direction. The sampling unit 40 is horizontally disposed so as to raise and lower the sampling member 49 in a direction perpendicular to the horizontal direction. The sampling unit 40 is disposed downstream of the detection unit 31 in the transport direction D. The sampling unit 40 is also disposed upstream of the discharge / transport unit 51 in the transport direction D. The sampling unit 40 discards the sampled foreign matter 14 via the discharge unit 50 into a storage unit 37 disposed outside the transport path R of the transport device 24. The sampling unit 40 includes a support arm unit 41, a cross-movement unit 42, a sampling head 44, a lifting / lowering unit 46, and an attachment unit 47.

[0018] As shown in FIGS. 2 to 5, the support arm unit 41 is provided with an elevating unit 46 that elevates the sampling member 49 and is a structure capable of moving the sampling member 49 along the conveying direction D. The support arm unit 41 includes, for example, an elevating mechanism having a mounting unit 47 to which the sampling member 49 is attached and an elevating unit 46 that elevates the mounting unit 47, and a support arm that is provided at one end of the mechanism and supported by a cross-movement unit 42. The support arm unit 41 moves the sampling member 49 along the front-to-rear direction, and the support arm is provided at the rear end. The cross-movement unit 42 supports the support arm of the support arm unit 41 at one end and moves the sampling member 49 along the conveying direction D and moves the support arm unit 41 in a cross-direction C that intersects the conveying direction D. The cross-movement unit 42 includes an X-axis slider. The X-axis slider includes a slider that moves along a guide rail installed along the transverse direction C, and a drive motor that drives the slider. The guide rails are disposed on support members 36 that are hung between support members 35 that are disposed on both sides of the transport device 24 along the transport direction D. The support members 35 are columnar structures that are disposed on the lateral sides of the transport device 24 along the transport direction D and support the collection unit 40. The cross-movement unit 42 also includes a drive mechanism that moves the support arm unit 41 along the transport direction D. This drive mechanism slides a columnar support arm disposed on the rear end of the support arm unit 41 along the transport direction D, and may include, for example, a moving roller that moves the support arm by contacting it, and a motor that rotates the moving roller. The cross-movement unit 42 can have a simpler structure than the Y-axis slider 43 (see FIG. 9, described later). The sampling head 44 is composed of components that move in the X and Y axes relative to stationary structures such as the support unit 35 and a support member on which an X-axis slider is disposed and hung across the support unit 35. Here, the sampling head 44 is composed of, for example, a support arm unit 41 and a cross-movement unit 42. The lifting unit 46 is a linear motion mechanism that moves a mounting unit 47, to which a sampling member 49 is attached, in the vertical direction. This lifting unit 46 may be a linear motor or a ball screw mechanism. The mounting unit 47 is configured to mount various sampling members 49 in a detachable manner.

[0019] The sampling member 49 is a member for sampling an object, and may also be configured to grip the object. The sampling member 49 includes a base and gripping claws. The sampling member 49 captures and releases the foreign matter 14 by opening and closing the gripping claws, thereby sampling and removing the foreign matter 14 from the processing material 12. A gripping member 49a is disposed at the tip of the gripping claws, and this gripping member 49a is used to grip the object. The sampling member 49 is moved in the X, Y, and Z directions within a predetermined range of the transport device 24 by the support arm 41, the cross-movement unit 42, and the lifting unit 46. The base is a main body that is removably fixed to the mounting unit 47 and pivotally supports the gripping claws. A gripping drive unit (not shown) is disposed on this base, and this gripping drive unit rotates the gripping claws, opening and closing their tips. Furthermore, the sampling member 49 is attached to the attachment portion 47 so that the base portion can rotate 360° around the vertical axis of the attachment portion 47. The gripping claws are a pair of members that grip an object.

[0020] The discharge unit 50 is a unit that moves foreign matter 14, which is an object collected by the collection unit 40, out of the transport path R. The discharge unit 50 includes a discharge conveying unit 51. The discharge conveying unit 51 is disposed above the transport device 24 in a position where it overlaps at least a portion thereof, and conveys the object collected by the collection unit 40 in a cross direction C that crosses the transport direction D. The discharge conveying unit 51 may be, for example, a belt conveyor. As shown in FIG. 2, the discharge conveying unit 51 is provided with guides 52 on both side surfaces along the cross direction C to prevent the object from falling. The discharge conveying unit 51 is disposed upstream in the transport direction D of the collection position P where the collection member 49 collects the foreign matter 14.

[0021] The gripping detection unit 55 is a unit that detects the gripping state of the sampling member 49 by the gripping member 49a. The gripping detection unit 55 is disposed on the side of the support unit 35 on the side of the movement area where the sampling member 49 moves. As shown in FIGS. 2 and 5, the gripping detection unit 55 includes a support arm 56, a rotation drive unit 57, and a strain gauge 58. The gripping detection unit 55 has a support arm 56 rotatably fixed to the support unit 35, and a plate to which the strain gauge 58 is affixed is disposed on the support arm 56. Rotation of the support arm 56 moves the strain gauge 58 between a standby position (FIG. 5A) and a measurement position (FIG. 5B). The support arm 56 is a rod-shaped member fixed to the rotation drive unit 57 disposed on the main body of the gripping detection unit 55. The support arm 56 has a length that enables the strain gauge 58 to move to a position where the sampling member 49 can be gripped. The rotation drive unit 57 is a motor that rotates the support arm 56. Based on a signal from the control unit 61, the rotation drive unit 57 rotates the support arm 56 in a direction along a horizontal plane. The strain gauge 58 is a sensor that measures the amount of strain by utilizing the fact that when a certain force is applied to metal and it expands or contracts, the electrical resistance changes accordingly, and amplifying this electrical resistance value into an electrical output. The grip detection unit 55 has two plates with strain gauges 58 attached fixed to the support arm 56. The grip detection unit 55 detects the change in electrical characteristics that occurs when the strain gauges 58 are deformed by gripping with the gripping member 49a, and detects that the sampling member 49 has gripped it.

[0022] The control device 60 controls the entire foreign body removal device 30, including the collection unit 40, and includes a control unit 61 and a memory unit 62. The control unit 61 is configured as a microprocessor centered on a CPU and controls the entire device. The control unit 61 outputs control signals to the detection unit 31, collection unit 40, discharge unit 50, and gripping detection unit 55, and inputs signals from the detection unit 31, collection unit 40, discharge unit 50, and gripping detection unit 55. The control unit 61 controls the collection unit 40 to move the collection member 49 toward the conveying device 24 in a direction perpendicular to the horizontal direction with respect to the foreign body 14 being conveyed in the conveying direction D, thereby collecting the foreign body 14, and to release the foreign body 14 from the discharge conveying unit 51. The memory unit 62 is a storage medium for storing information, and is configured, for example, with a hard disk drive (HDD) or flash memory. The memory unit 62 stores information used when collecting and processing the target object.

[0023] Next, the operation of the foreign matter removal device 30 configured as described above will be described. Here, the process of collecting and removing foreign matter 14 as the target object from the material to be treated 12 as the transported material and producing waste material 13 will be described. In the foreign matter removal device 30, the detection unit 31 will be described as constantly performing image capture processing by the detection unit 32 and height sensing by the detection unit 33. The detection unit 31 may also perform image capture processing and height sensing at predetermined intervals as appropriate, rather than constantly. Figure 6 is a flowchart showing an example of a foreign matter removal processing routine executed by the control unit 61 of the control device 60. This routine is stored in the memory unit 62 and is executed by the control unit 61 after the foreign matter removal device 30 is started.

[0024] When this routine starts, the control unit 61 first drives the transport device 24 (S100) and determines whether it is time to acquire the gripping time of the sampling member 49 (S110). The gripping time acquisition timing may include, for example, one or more of the following: when the device is started, a predetermined measurement timing, and a command from the operator M. The predetermined measurement timing may be, for example, when the device is calibrated, when a predetermined time has elapsed since the previous measurement (e.g., one hour or four hours), or when the number of gripping times since the previous measurement reaches a predetermined number (e.g., one hundred or one thousand times). The operator M can execute the measurement of the gripping time at any timing by inputting data to the control device 60. The gripping time refers to the time it takes for the gripping claws of the drive unit of the sampling member 49 to rotate until the gripping members 49a come into contact with each other after the control unit 61 issues a gripping command for the sampling member 49. The gripping time changes when the type of sampling member 49 is changed or depending on the state of the drive unit of the sampling member 49. In the collection unit 40, a change in the gripping time affects the accuracy of removing the object, because the object being transported by the transport device 24 is gripped in a timely manner. When it is time to acquire the gripping time, the control unit 61 executes a gripping time acquisition process (S120).

[0025] FIG. 7 is a flowchart showing an example of a gripping time acquisition process routine executed by the control unit 61 of the control device 60. FIG. 8 is an explanatory diagram showing an example of the gripping time acquisition process, with FIG. 8A being an explanatory diagram before gripping and FIG. 8B being an explanatory diagram during gripping. The gripping time acquisition process routine is stored in the memory unit 62 and is executed in S120 of the foreign body removal process routine. When this routine starts, the control unit 61 first prepares for measuring the gripping time using the gripping detection unit 55 and the collection unit 40 (S300). The control unit 61 rotates the support arm 56 to move the strain gauge 58 to the measurement position and moves the collection member 49 to a gripping position where it grips the strain gauge 58 at the measurement position (FIGS. 5B and 8A). Next, the control unit 61 outputs a gripping command to the collection unit 40 and starts timing (S310). Timing can be performed using a timer provided in the control device 60. Next, the control unit 61 determines whether a signal has been received from the strain gauge 58 (S320), and if a signal has not been received, the control unit 61 waits. On the other hand, if a signal has been received from the strain gauge 58 (FIG. 8B), the control unit 61 obtains the time elapsed since the output of the gripping command and stores this as the gripping time in the memory unit 62 (S330). The control unit 61 then moves the strain gauge 58 and the collection member 49 to the standby position (S340, FIG. 5A), and ends this routine. In this way, the control unit 61 can obtain the gripping time required to grip the target object based on the actual operation of the collection member 49.

[0026] Returning to the description of the foreign object removal process routine in FIG. 6, when the gripping time acquisition process is executed in S120, the control unit 61 determines whether the gripping time exceeds a predetermined allowable range (S130). This allowable range may be set, for example, by empirically determining the time at which it is possible to determine that an abnormality exists in the collection member 49 or the device, and adding a margin as necessary to that time. If the gripping time exceeds the allowable time, the control unit 61 displays a message on a display unit (not shown) indicating that there is an abnormality in the gripping operation of the collection member 49, thereby notifying the operator M (S140). After confirming this message, the operator M performs work to resolve the abnormality, such as performing maintenance on the collection member 49. Next, the control unit 61 determines whether measures to resolve the abnormality have been taken based on input from the operation unit of the control device 60 (S150). If measures to resolve the abnormality have not been taken, the control unit 61 waits. On the other hand, if measures to resolve the abnormality have been taken, the control unit 61 executes the processes from S120 onward until the gripping time falls within the allowable range.

[0027] If the gripping time is within the allowable range in S130, or if the gripping time acquisition timing is not reached in S110, the control unit 61 acquires information such as an image of the transport path R and the height of the object on the transport path R from the detection unit 31 (S160). Next, the control unit 61 determines whether the timing for detecting a foreign object has arrived (S170). This foreign object detection timing may be, for example, the timing when the detection unit 32 captures all of the processing material 12 being transported by the transport device 24 in a continuous still image, and the still image transitions to the next image. Note that if the detection unit 32 captures a video, the detection timing may be the elapse of a certain period of time during which the still images are acquired. Furthermore, the detection timing of the detection unit 33 may be, for example, every certain period of time, or may be the same as the detection timing of the detection unit 32.

[0028] When it is time to detect an object in S170, the control unit 61 acquires the captured image captured by the detection unit 32 and the height value measured by the detection unit 33, and performs a process of detecting the waste material 13 and the foreign matter 14 as the object using the captured image and the height value (S180). The control unit 61 may, for example, perform a process of detecting an area of ​​the treatment material 12 that differs in brightness from the conveyance surface of the conveyor device 24 and designating that area as the area of ​​the treatment material 12. The control unit 61 may also determine the area of ​​the treatment material 12 from the acquired height of the conveyance surface. Furthermore, the control unit 61 can determine the presence or absence of the foreign matter 14 based on whether the captured image contains an area of ​​the foreign matter 14 that differs in brightness from the waste material 13 (see FIG. 4). Furthermore, the control unit 61 may use machine learning to determine the presence and material of the waste material 13 or the foreign matter 14 based on information about the captured image captured by the detection unit 32 (e.g., image brightness, etc.).

[0029] Next, the control unit 61 determines whether or not a foreign object 14 is present as a target object in the image captured by the transport device 24 (S190). If a foreign object 14 is present in the transport device 24, the control unit 61 sets a timing to start collecting the foreign object 14 based on information such as the shape, material, transport position, and height of the foreign object 14 (S200). The timing to start collecting the foreign object 14 can be calculated backwards, for example, based on the movement speed of the collection member 49, the transport speed of the transport device 24, the collection position P, and the obtained gripping time. This collection start timing may be set to a timing that retroactively corresponds to the time it takes for the foreign object 14, moving along the transport direction D, to reach the collection position P and the collection member 49 to move directly above the foreign object 14 and collect the foreign object 14, based on the movement time and gripping time of the collection member 49. Once the timing for collecting the foreign object has been determined, the control unit 61 controls the collection unit 40 so that the collection member 49 is positioned above the movement path along which the foreign object 14 passes along the conveying direction D, and causes the collection member 49 to wait in that position (S210).

[0030] Next, the control unit 61 determines whether the collection start timing for collecting the foreign matter 14 has arrived (S220). If the collection start timing has not arrived, the control unit 61 remains in standby. On the other hand, if the collection start timing has arrived, the control unit 61 lowers the collection member 49 vertically downward toward collection position P on the conveying device 24 side, causes the collection member 49 to grip the foreign matter 14, and then moves the collection member 49 vertically upward (S230). Next, the control unit 61 releases the collection state of the foreign matter 14 on the discharge and conveying unit 51 (S240), and causes the discharge and conveying unit 51 to move the foreign matter 14 out of the conveying path R (S250). The control unit 61 lowers the collection member 49 to collection position P in accordance with the timing at which the foreign matter 14 will reach collection position P based on the conveying speed of the conveying device 24. The control unit 61 also controls the collection unit 40 to grip the foreign matter 14 with the collection member 49 at collection position P and collect it. Furthermore, the control unit 61 moves the collection member 49, which has collected the foreign matter 14, upward in the vertical direction, and then moves it above the discharge conveyance unit 51 along the conveyance direction D. In this way, the control unit 61 causes the collection member 49 to wait upstream of the discharge conveyance unit 51 in the conveyance direction D, and when the foreign matter 14 is conveyed along the conveyance direction D, moves the collection member 49 above the collection position P, which is downstream of the discharge conveyance unit 51 in the conveyance direction D, and then moves the collection member 49 vertically toward this collection position P to collect the foreign matter 14.

[0031] FIG. 9 is an explanatory diagram showing an example of the discharge operation of the collection unit 40. As shown in FIG. 9, the collection unit 40 moves the collection member 49 downstream along the conveyance direction D and above the collection position P. The collection member 49 is then raised and lowered in a direction perpendicular to the horizontal direction to collect the foreign matter 14 without any follow-up operation in response to the movement of the foreign matter 14. The foreign matter removal device 30 is located downstream of the secondary crusher 18. Since there are few large foreign matters 14 and the load, such as impact and stress, on the collection head 44 when collecting the foreign matter 14 is reduced, the foreign matter 14 can be collected without any follow-up operation. The foreign matter removal device 30 is generally located in a location with relatively limited space, and there is a high demand for a compact device. Since the collection unit 40 does not perform a follow-up operation, the range of movement along the conveyance direction D is reduced, allowing for a more compact device. Furthermore, if the collection member 49 moves the foreign matter 14 to the storage section 37 outside the transport path R, the support section 35 supporting the collection head 44 must be positioned further outward, resulting in a larger device width. In the collection unit 40, by using a discharge conveying section 51 that conveys the foreign matter 14 out of the transport path R along the transverse direction C, the device can be made more compact in the transverse direction C. Furthermore, in the collection unit 40, if the discharge conveying section 51 is disposed downstream of the collection position P, as shown in FIG. 9 , and the conveying device 24 is positioned on an upward slope, the device becomes larger in height due to the clearance between the discharge conveying section 51 and the transport path R. In the collection unit 40, by disposing the discharge conveying section 51 upstream of the collection position P, the movement distance of the collection member 49 can be shortened and the device can be made more compact in height.

[0032] After S250, or when it is not the timing to detect foreign matter in S170, or when there is no foreign matter 14 in S190, the control unit 61 determines whether the recycling process of the treatment material 12 has been completed (S260). If the recycling process of the treatment material 12 has not been completed, the control unit 61 executes the processes from S110 onwards. On the other hand, if the recycling process of the treatment material 12 has been completed in S260, the control unit 61 stops the conveying device 24 (S270) and ends this routine.

[0033] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The foreign matter removal device 30 of this embodiment corresponds to an example of a foreign matter removal device of the present disclosure, the collection unit 40 corresponds to an example of a collection unit, the gripping detection unit 55 corresponds to an example of a gripping detection unit, the collection member 49 corresponds to an example of a collection member, the strain gauge 58 corresponds to an example of a strain gauge, and the control unit 61 corresponds to an example of a control unit. Furthermore, the transport device 24 corresponds to an example of a transport device, the support unit 35 corresponds to an example of a support unit, the support arm 56 corresponds to an example of a support arm, the discharge transport unit 51 corresponds to an example of a discharge transport unit, the processing material 12 corresponds to an example of a transported object, and the foreign matter 14 corresponds to an example of a foreign matter. Note that in this embodiment, by explaining the operation of the foreign matter removal device 30, examples of a method for controlling the foreign matter removal device and a method for removing foreign matter of the present disclosure will also be clarified.

[0034] The foreign matter removal device 30 described above includes a collection unit 40 that uses a collection member 49 to grip and collect foreign matter 14 contained in a treatment material 12 as a transported object being transported in the transport direction D by the transport device 24, a gripping detection unit 55 that moves between a standby position and a measurement position and has a plate with a strain gauge 58 attached thereto and detects the gripping state of the collection member 49, and a control unit 61 that acquires the gripping time from the output of a collection command to the collection unit 40 to the detection of the gripping state and controls the collection unit 40 to collect foreign matter 14 based on the acquired gripping time. Because the foreign matter removal device 30 uses the strain gauge 58 to determine the gripping time of the collection member 49, it is possible to measure the gripping time more accurately with a simple structure, and ultimately to more reliably remove foreign matter 14 from the transported object using this gripping time.

[0035] The foreign body removal device 30 also includes a support unit 35 disposed to the side of the conveying device 24 along the conveying direction D and supporting the sampling unit 40. The gripping detection unit 55 is fixed to the support unit 35. A plate with a strain gauge 58 attached is fixed to a support arm 56 rotatably disposed on the main body of the gripping detection unit 55. Rotation of the support arm 56 moves the strain gauge 58 between a standby position and a measurement position. In this foreign body removal device 30, the support arm 56 can be used to retract the strain gauge 58 with a simple structure. Furthermore, upon startup of the device, the control unit 61 controls the sampling unit 40 and the gripping detection unit 55 to calculate the gripping time based on at least one of a predetermined measurement timing and a command from the operator M. This foreign body removal device 30 can calculate the gripping time at the required timing. Furthermore, when the gripping time exceeds a predetermined allowable time, the control unit 61 notifies the operator M of this information. In this foreign body removal device 30, the state of the sampling part 40 can be grasped based on the gripping time, and the information can be notified to the operator M.

[0036] The foreign matter removal device 30 may also include a discharge conveying unit disposed above the conveying device 24 at a position at least partially overlapping the conveying device 24, which conveys the foreign matter 14 collected by the collecting unit 40 in a cross direction C intersecting the conveying direction D. The control unit may control the collecting unit to collect the foreign matter and then release the foreign matter on the discharge conveying unit. In this foreign matter removal device, the discharge conveying unit is disposed overlapping the conveying device, thereby narrowing the movement range of the collecting member. Furthermore, in this foreign matter removal device, the discharge conveying unit can move the collected foreign matter outside the conveying path, thereby narrowing the movement range of the collecting member compared to when the collected foreign matter is moved outside the conveying path by the collecting member. Therefore, this foreign matter removal device can be made more compact. Furthermore, the conveying device 24 is disposed so that the conveyed material rises along the conveying direction D, and the discharge conveying unit 51 is disposed upstream of the conveying direction D relative to the collection position P where the collecting member 49 collects the foreign matter 14. In this foreign body removal apparatus 30, if the transport device 24 is arranged on an upward slope and the discharge conveying section 51 is arranged downstream of the collection position P in the transport direction D, interference between the transported object and the discharge conveying section 51 becomes a problem. However, in this foreign body removal apparatus 30, by arranging the discharge conveying section 51 upstream, this interference can be prevented while making the apparatus more compact. Furthermore, the collection section 40 is arranged horizontally, and the collection member 49 is moved in a vertical direction horizontal to the foreign body 14 transported in the transport direction D to collect the foreign body 14. In this foreign body removal apparatus 30, the collection section 40 is horizontal and the collection member 49 is moved vertically, making the apparatus easy to handle.

[0037] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0038] For example, in the above-described embodiment, the gripping detector 55 is disposed on the side of the support 35 formed along the conveying direction D on the side of the conveying device 24. However, this is not limited thereto and the gripping detector 55 may be disposed on another surface. FIG. 10 is an explanatory diagram showing an example of a collection unit 40 equipped with another gripping detector 55B. This collection unit 40 is disposed on the side of the support 36 formed along the transverse direction C, on the side of the movement range of the collection member 49. Like the gripping detector 55, the gripping detector 55B includes a support arm 56, a rotational drive unit 57, and a strain gauge 58. This gripping detector 55B can also measure the gripping time more accurately with a simple structure. Note that, since the main body of the gripping detector 55 may not be accommodated within the side of the support 36, it is preferable to provide the gripping detector 55 on the support 35, which is less likely to interfere with the movement of the collection member 49.

[0039] In the above-described embodiment, the grip detection unit 55 includes the support arm 56, the rotation drive unit 57, and the strain gauge 58. However, the present invention is not limited to this configuration as long as the strain gauge is moved between a standby position and a measurement position and the strain gauge 58 is used to measure the grip time. For example, while the grip detection unit 55 rotates the support arm 56 along a horizontal plane, the grip detection unit 55 may rotate the support arm 56 along a vertical plane perpendicular to the horizontal plane. Furthermore, the grip detection unit 55 rotates the support arm 56 to move between the measurement position and the standby position. However, the support arm 56 may be extended or retracted or inserted or protruded from an opening formed in the main body to move between the measurement position and the standby position. This type of grip detection unit 55 can also measure the grip time more accurately with a simple structure.

[0040] In the above-described embodiment, the control unit 61 notifies the operator M when the gripping time exceeds a predetermined allowable time. However, this is not limited to this, and this process may be omitted. It is preferable to perform some kind of maintenance work when the gripping time exceeds the allowable time. Although not specifically described in the above-described embodiment, for example, the control unit 61 may notify the operator M of the obtained gripping time regardless of the predetermined allowable time. Having checked the gripping time, the operator M can grasp the status of the collection member 49, for example, by knowing the length of the gripping time. The control unit 61 may display the gripping time on a processing result display screen displayed on the display unit after the calibration process or after obtaining the gripping time, or on a gripping time display screen based on a gripping time display command from the operator M. This foreign body removal device 30 can accurately grasp the gripping time. The control unit 61 may both notify the operator M of an abnormality when the gripping time exceeds the allowable range and notify the operator M of the gripping time.

[0041] In the above-described embodiment, the grip detection unit 55 is provided with two strain gauges 58 attached to the plate, but this is not limited to this, and the gauges do not have to be attached to the plate, and there may be two or less or more than two.

[0042] In the above-described embodiment, the collection unit 40 is disposed horizontally so as to raise and lower the collection member 49 in the vertical direction, but this is not particularly limited, and the collection unit 40 may be disposed at an angle. Note that a horizontal arrangement of the collection unit 40 is preferable because it allows the collection member 49 to be raised and lowered more stably.

[0043] In the above-described embodiment, the discharge conveyance unit 51 is disposed upstream of the collection position P in the conveyance direction D. However, this is not limited thereto, and the discharge conveyance unit 51 may be disposed downstream of the collection position P in the conveyance direction D. FIG. 11 is an explanatory diagram showing an example of a foreign matter removal device 30B equipped with a different discharge unit 50B. In this foreign matter removal device 30B, the discharge conveyance unit 51 is disposed downstream of the collection position P in the conveyance direction D, where the collection member 49 is raised and lowered. In this foreign matter removal device 30B, the collection member 49 is moved vertically to collect the foreign matter 14, thereby achieving a more compact device than devices that follow the foreign matter 14. Note that if the discharge conveyance unit 51 were disposed at the position indicated by the dashed dotted line, the support arm 41 would need to be extended farther, which would require further improvements, such as increasing the extension and strength of the support arm. For this reason, it is preferable to dispose the discharge conveyance unit 51 closer to the collection position P.

[0044] In the above-described embodiment, the collection unit 40 has been described as including a support arm unit 41 and a cross-movement unit 42. However, as long as the collection unit 40 can collect the target object, it is not limited to this and may be an XY robot. FIG. 12 is an explanatory diagram showing an example of a foreign matter removal device 30C including another collection unit 40C. The foreign matter removal device 30C includes a collection unit 40C and a discharge unit 50. The collection unit 40C includes an X-axis slider 42C, a Y-axis slider 43, a collection head 44, and an elevator unit 46. The X-axis slider 42C is a drive mechanism including a guide rail installed along a cross direction C perpendicular to the conveying direction D of the conveying device 24, a slider that moves along the guide rail, and a drive motor that drives the slider. The guide rail is fixed to the slider of a Y-axis slider 43 installed on the conveying device 24 along the conveying direction D. A sampling head 44 having an elevator unit 46 is fixed to the slider of the X-axis slider 42C. The Y-axis slider 43 includes a guide rail installed along the conveying direction D, a slider that moves along the guide rail, and a drive motor that drives the slider. The guide rail is fixed to a support unit 35 installed on the conveying device 24 along the conveying direction D. The X-axis slider 42C is installed on the slider of the Y-axis slider 43. The sampling member 49 is moved in the X, Y, and Z directions within a predetermined range on the conveying path R of the conveying device 24 by the X-axis slider 42C, the Y-axis slider 43, and the elevator unit 46. The discharge unit 50 includes a discharge and conveying unit 51, which is similar to that of the foreign matter removal device 30, and detailed description thereof will be omitted. In this foreign matter removal device 30C, the sampling member 49 may also be raised and lowered in the vertical direction.

[0045] In the above-described embodiment, the foreign matter removal device 30 removes the foreign matter 14 as the target object, which is the material 12 to be transported and is a mixture of waste material 13 to be recycled, such as stone, sand, asphalt, and concrete, and foreign matter 14, such as paper, resin, wood, and metal. However, the foreign matter removal device 30 is not limited to the waste material 13 or foreign matter 14 as long as it is intended to collect the target object contained in the material. The material to be transported and the target object can be any object. Although the above-described foreign matter removal device 30 has been described as a waste material processing device, the device is not particularly limited to this as long as it removes foreign matter.

[0046] In the above-described embodiment, the present disclosure has been described as a foreign matter removal device 30, but is not limited to this, and the present disclosure may be a control method for the foreign matter removal device 30 executed by a computer, a foreign matter removal method, or a program for this control method.

[0047] Here, the present disclosure may be configured as follows. For example, the foreign matter removal method of the present disclosure includes: A foreign matter removal method executed by a computer of a foreign matter removal device including a collection unit that uses a collection member to grasp and collect foreign matter contained in an object being transported in a transport direction by a transport device, and a gripping detection unit that moves between a standby position and a measurement position, has a plate with a strain gauge attached, and detects a state of gripping by the collection member, (a) acquiring a gripping time from outputting a collection command to the collection unit to detecting a gripping state by the collection member; (b) controlling the collection unit to collect the foreign object based on the holding time acquired in step (a); It includes:

[0048] In this foreign body removal method, as with the above-described foreign body removal device, a strain gauge is used to determine the gripping time of the collection member, so that the gripping time can be measured more accurately with a simple structure, and this gripping time can be used to more reliably remove foreign bodies from the transported object. Note that in this foreign body removal device control method, various aspects of the above-described foreign body removal device may be adopted, and steps may be added to realize each function of the above-described foreign body removal device.

[0049] This specification also discloses the technical idea of ​​changing "a foreign matter removal device according to claim 1 or 2" in claim 4 as originally filed to "a foreign matter removal device according to any one of claims 1 to 3," and the technical idea of ​​changing "a foreign matter removal device according to claim 1" in claim 5 as originally filed to "a foreign matter removal device according to any one of claims 1 to 4." [Industrial Applicability]

[0050] The present disclosure is applicable to technical fields such as recycling of industrial waste. [Explanation of symbols]

[0051] 10 Recycling system, 12 Treated material, 13 Waste material, 14 Foreign matter, 15 Primary crusher, 16 Primary magnetic separator, 17 Screening machine, 18 Secondary crusher, 19 Secondary magnetic separator, 20-25 Conveying device, 30, 30B-30C Foreign matter removal device, 31 Detection unit, 32 Detection section, 33 Detection section, 35, 36 Support section, 37 Storage section, 40, 40C Collection section, 41 Support arm section, 42 Cross movement section, 42C X-axis slider, 43 Y-axis slider, 44 Collection head, 46 Lifting section, 47 Mounting section, 49 Collection member, 49a Gripping member, 50, 50B Discharge section, 51 Discharge conveying section, 52 Guide, 55, 55B Gripping detection section, 56 Support arm, 57 Rotation drive unit, 58 strain gauge, 60 control device, 61 control unit, 62 memory unit, 65 captured image, 66 captured image, C cross direction, D conveying direction, M worker, P collection position, R conveying path, θ arrangement angle.

Claims

1. a collection unit that grasps and collects foreign matter contained in the transported object transported in the transport direction by the transport device with a collection member; a gripping detection unit that moves between a standby position and a measurement position, has a plate to which a strain gauge is attached, and detects a gripping state by the sampling member; a control unit that acquires a gripping time from the output of a collection command to the collection unit to the detection of the gripped state, and controls the collection unit to collect the foreign object based on the acquired gripping time; A foreign body removal device comprising:

2. The foreign matter removal device according to claim 1, a support portion disposed on a side of the transport device along the transport direction and supporting the collection portion; The grip detection unit is fixed to the support unit and includes a support arm that is rotatably arranged, the plate is fixed to the support arm, and the strain gauge moves between the standby position and the measurement position by rotating the support arm.

3. 3. The foreign body removal device according to claim 1, wherein the control unit controls the collection unit and the grip detection unit to determine the gripping time based on at least one of a predetermined measurement timing and an instruction from an operator when the device is started.

4. 3. The foreign matter removal device according to claim 1, wherein the control unit notifies an operator when the gripping time exceeds a predetermined allowable time.

5. The foreign matter removal device according to claim 1, a discharge and conveyance unit disposed above the conveyance device at a position at least partially overlapping the conveyance device, and configured to convey the foreign matter collected by the collection unit in a direction intersecting the conveyance direction; The control unit controls the collection unit to collect the foreign matter and then release the collected foreign matter on the discharge and transport unit.

6. the conveying device is disposed so that the conveyed object moves upward along the conveying direction, The foreign matter removal device according to claim 5 , wherein the discharge and transport section is disposed upstream in the transport direction from a collection position where the collection member collects the foreign matter.

7. 7. The foreign matter removal device according to claim 5, wherein the collection unit is disposed horizontally and moves the collection member in a direction perpendicular to the horizontal direction relative to the foreign matter being transported in the transport direction to collect the foreign matter.

8. A foreign matter removal method executed by a computer of a foreign matter removal device including a collection unit that uses a collection member to grasp and collect foreign matter contained in an object being transported in a transport direction by a transport device, and a gripping detection unit that moves between a standby position and a measurement position, has a plate with a strain gauge attached, and detects a state of gripping by the collection member, (a) acquiring a gripping time from outputting a collection command to the collection unit to detecting a gripping state by the collection member; (b) controlling the collection unit to collect the foreign matter based on the holding time acquired in step (a); A method for removing foreign matter, comprising:

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