Foreign matter removal device

Abstract

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

Description

[Technical field]

[0001] This specification discloses a foreign body removal device. [Background technology]

[0002] Conventionally, there is known a recycling system that conveys a mixture of recyclable materials and foreign materials not to be recycled by a conveying device such as a conveyor, separates the recyclable materials from the foreign materials, and removes the foreign materials. For example, Non-Patent Document 1 discloses a recycling system that conveys a mixture of recyclable materials and foreign materials by a conveyor and removes the foreign materials from the conveyor by using a robot hand. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Intelligent Waste Sorting With ZenRobotics Recycler [Retrieved July 30, 2020], Internet<URL:https: / / www.youtube.com / watch?v=X#1sOPqM#VA> Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the recycling system disclosed in Non-Patent Document 1, if the amount of transported foreign matter increases temporarily, there are cases where the robot hand is unable to remove all of the foreign matter.

[0005] The present disclosure has been made to solve such problems, and has as its main objective to enable a robotic hand to appropriately remove foreign matter depending on the amount of foreign matter detected. [Means for solving the problem]

[0006] The foreign matter removal device of the present disclosure is A conveying device having a conveying surface for conveying waste materials and side walls provided on both sides of the conveying surface; a conveying line in which a plurality of the conveying devices are arranged along a conveying direction of the waste material; a detection unit that detects foreign matter contained in the waste material transported by the transport line; a robot hand that is provided downstream of the detection unit in the conveying direction and that removes the foreign object detected by the detection unit from the conveying line; a control device that changes a conveying state of a conveying device located downstream of the detection unit in the conveying direction in accordance with the amount of the foreign matter detected by the detection unit during conveying; It is equipped with the following:

[0007] In this foreign matter removal device, the transport state of the transport device located downstream of the detection unit in the transport direction is changed depending on the amount of foreign matter detected by the detection unit during transport. Therefore, the transport state of the transport device can be changed depending on the amount of foreign matter contained in the waste material so that the robot hand can appropriately remove the foreign matter. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a recycling system 1. [Diagram 2] FIG. 1 is a perspective view showing a schematic configuration of a foreign matter removal device 10. [Diagram 3] 1 is a side view showing a schematic configuration of a foreign matter removal device 10. FIG. [Figure 4] FIG. 1 is a plan view showing a schematic configuration of a foreign matter removal device 10. [Diagram 5] FIG. 2 is a perspective view showing a schematic configuration of a robot hand 15. [Figure 6] FIG. 2 is a diagram showing electrical connections in the foreign matter removal device 10. [Figure 7] 11 is a flowchart showing an example of a transport state setting routine. [Figure 8] FIG. [Figure 9] FIG. 2 is a perspective view showing a schematic configuration of a foreign matter removal device 110. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Next, an embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing the configuration of a recycling system 1, FIG. 2 is a perspective view showing the schematic configuration of a foreign matter removal device 10, FIG. 3 is a side view showing the schematic configuration of the foreign matter removal device 10, FIG. 4 is a plan view showing the schematic configuration of the foreign matter removal device 10, FIG. 5 is a perspective view showing the schematic configuration of a robot hand 15, and FIG. 6 is an explanatory diagram showing the electrical connection relationship of the foreign matter removal device 10. In this embodiment, the left-right direction, the front-rear direction, and the up-down direction are as shown in FIG. 1 to FIG. 4 (in FIG. 1 and FIG. 3, the front-rear direction is perpendicular to the paper surface, and in FIG. 4, the up-down direction is perpendicular to the paper surface). In this embodiment, the direction in which the waste material 2 is transported is referred to as the transport direction D.

[0010] The waste material 2 to be processed in the recycling system 1 is a mixture of objects 3 to be recycled, such as stones, sand, and concrete, and foreign objects 4, such as paper, resin, wood, and metal.

[0011] As shown in FIG. 1, the recycling system 1 includes primary and secondary crushers 11a and 11b, primary and secondary magnetic separators 12a and 12b, a screening machine 13, conveying lines 20 to 25, and a foreign matter removal device .

[0012] The primary crusher 11a is a device that performs primary crushing of the waste material 2, which is the raw material. The primary crusher 11a crushes the waste material 2 to a predetermined primary size or less (for example, 40 cm or less). The primary magnetic separator 12a is a device that removes magnetic foreign matter contained in the waste material 2 by magnetic force. The screener 13 is a device that separates the waste material 2 of a primary size or more from the waste material 2 of a smaller size than the primary size by passing the waste material 2 over a mesh, for example. The secondary crusher 11b is a device that performs secondary crushing of the waste material 2 to a size smaller than that of the primary crusher 11a. The secondary crusher 11b crushes the waste material 2 to a predetermined secondary size or less (for example, 10 cm or less). The secondary magnetic separator 12b is a device that removes magnetic material from the waste material 2 that could not be completely removed by the primary magnetic separator 12a and the robot hand 15.

[0013] The conveying lines 20-25 are devices that place the waste material 2 on a conveying surface and convey it along the conveying direction D, and are configured as, for example, a belt conveyor. Note that the conveying lines 20-25 may be configured as anything other than a belt conveyor as long as they convey the waste material 2.

[0014] As shown in Figures 2 and 4, the foreign matter removal device 10 includes a transfer line 22, a camera 14, a robot hand 15, a moving device 35, a vibration generating device 36, and a control device 80 (see Figure 6). As shown in Figures 2 to 4, the transfer line 22 includes first and second transfer devices 22a, 22b. The first and second transfer devices 22a, 22b are arranged in this order along the transfer direction D.

[0015] The first conveying device 22a is a conveying device that conveys the waste material 2. The first conveying device 22a has a conveying surface 30 and side walls 31a, 31b provided on both sides of the conveying surface 30. In the first conveying device 22a, the distance between the side walls 31a, 31b, i.e., the conveying width when conveying the waste material 2, is a constant width W1. The first conveying device 22a places the waste material 2 on the conveying surface 30 and conveys the waste material 2 at a constant conveying speed (for example, 40 [m / min]).

[0016] The second conveying device 22b is a conveying device that conveys the waste material 2 in the same manner as the first conveying device 22a. The second conveying device 22b is arranged next to the first conveying device 22a on the downstream side of the camera 14 in the conveying direction D. The second conveying device 22b includes a conveying surface 32, side walls 33a and 33b provided on both sides of the conveying surface 32, and a driving motor 60 (see FIG. 6). In the second conveying device 22b, the distance between the side walls 33a and 33b, i.e., the conveying width when conveying the waste material 2, can be changed within the range of W1 to W2. Therefore, the width of the conveying surface 32 is set to be equal to or larger than the width W2. In the second conveying device 22b, the side wall 33a is fixed in a state of being connected to the side wall 31a of the first conveying device 22a, but the side wall 33b is movable relative to the side wall 31a. The second conveying device 22b places the waste material 2 on the conveying surface 32 and conveys it at a variable speed. In the second conveying device 22b, the conveying speed can be changed, for example, between 20 [m / min] and 40 [m / min] by controlling the drive motor 60 (see FIG. 6). The expandable member 34 is an expandable bellows, and the length can be changed. When the conveying width of the second conveying device 22b expands, the bellows of the expandable member 34 is expanded and the length increases, and when the conveying width contracts, the bellows is folded and the length decreases.

[0017] The camera 14 is a device that captures color images of the waste material 2 placed on and transported on the transport surface 32 of the first transport device 22a. As shown in Figs. 2 to 4, the camera 14 is held above the transport surface 30 of the first transport device 22a by a camera holding member 16 that is provided so as to straddle the first transport device 22a in the front-rear direction. The camera 14 captures images of the waste material 2 from above the transport surface 30 of the first transport device 22a at regular intervals and outputs image data to the control device 80 (see Fig. 6).

[0018] The robot hand 15 is a device that removes foreign matter 4 from the conveying surface 32 of the second conveying device 22b. As shown in Figs. 2 to 4, the robot hand 15 is provided downstream of the camera 14 in the conveying direction D and outside the side wall 33b (in front of the side wall 33b). As shown in Fig. 5, the robot hand 15 includes a first arm 40, a second arm 42, a support unit 44, a base unit 47, a tip unit 50, and a control unit 70 (see Fig. 6). The first arm 40 is a longitudinal member that includes the tip unit 50. The first arm 40 includes a first drive unit 41 therein that drives the tip unit 50 to rotate. The second arm 42 is a longitudinal member that includes the first arm 40. A second drive unit 43 that drives the first arm 40 to rotate is provided on the tip side of the second arm 42. The support unit 44 is a box-shaped member that includes the second arm 42. A third drive unit 45 that rotates and drives the second arm 42 is provided on the tip side of the support unit 44. The base unit 47 supports the support unit 44 via a support shaft 46 formed in the vertical direction. A motor is provided on the base unit 47, and the support shaft 46 rotates by this motor.

[0019] The tip 50 is for collecting foreign matter 4 from the waste material 2 transported by the second transport device 22b. As shown in FIG. 5, the tip 50 is supported by a horizontal shaft provided at the tip of the first arm 40, and is provided with a box-shaped base 51. A mounting part 52 and a camera 54 are provided on the underside of the base 51. A collection member 53 for collecting objects is removably attached to the mounting part 52. The collection member 53 is configured as a mechanical chuck having a plurality of claws for gripping and collecting the foreign matter 4. The collection member 53 is driven by the fourth drive part 58, rotates together with the mounting part 52, and performs a gripping operation of the object, such as opening and closing the claws. The camera 54 is a device for capturing an image of the waste material 2 transported by the second transport device 22b. The camera 54 outputs captured image data to the control part 70 (see FIG. 6).

[0020] The control unit 70 is configured as a microprocessor centered on a CPU, and controls the robot hand 15. The control unit 70 outputs signals to the first drive unit 41, the second drive unit 43, the third drive unit 45, and the fourth drive unit 58. The control unit 70 also inputs a signal from the camera 54. The first drive unit 41, the second drive unit 43, and the third drive unit 45 are equipped with position sensors (not shown), and the control unit 70 controls each drive unit while inputting position information from these position sensors. In the robot hand 15, the control unit 70 grasps the position and direction of the foreign object 4 using the image captured by the camera 54, and removes the foreign object 4. In the robot hand 15, the foreign object 4 can be accurately collected.

[0021] The moving device 35 is a device that moves the side wall 33b of the second conveying device 22b. As shown in Figs. 2 to 4, the moving device 35 is provided on the rear side of the side wall 33b and the conveying surface 32. The moving device 35 includes a linear actuator 61, and moves the side wall 33b relative to the side wall 33a by driving the linear actuator 61. For example, when the side wall 33b is in the position shown by the solid line in Fig. 4, the moving device 35 moves the side wall 33b in a direction away from the side wall 33a, thereby expanding the conveying width of the second conveying device 22b.

[0022] The vibration generator 36 is a device that vibrates the conveying surface 32 of the second conveying device 22b. As shown in Figs. 2 to 4, the vibration generator 36 is provided downstream of the camera 14 in the conveying direction D and upstream of the robot hand 15 in the conveying direction D (near the boundary between the first conveying device 22a and the second conveying device 22b). The vibration generator 36 includes a vibration motor 62 (see Figs. 3 and 6), and vibrates the conveying surface 32 by driving the vibration motor 62.

[0023] 6, the control device 80 is a computer including a known CPU 80a, ROM 80b, RAM 80c, HDD 80d, etc., and controls the entire foreign matter removal device 10. The control device 80 is connected to the camera 14, the robot hand 15, the drive motor 60, the linear actuator 61, and the vibration motor 62. The control device 80 can communicate with the control unit 70 of the robot hand 15. The control device 80 outputs control signals to the drive motor 60, the linear actuator 61, and the vibration motor 62. The control device 80 also inputs image data from the camera 14.

[0024] Next, the operation of the foreign matter removal device 10 thus configured will be described with reference to Figs. 7 and 8. Fig. 7 is a flow chart showing an example of a transport state setting routine, and Fig. 8 is a diagram showing transport state management data 81. The transport state setting routine program is stored in the ROM 80b, and is executed by the CPU 80a at all times (for example, every several tens of seconds) while the foreign matter removal device 10 is removing foreign matter. As shown in Fig. 8, the HDD 80d of the control device 80 stores transport state management data 81 in which the amount of detected foreign matter 4 is associated with the transport state (transport speed, transport width, and the presence or absence of vibration). In the initial setting immediately after the power supply of the foreign matter removal device 10 is turned on, the transport state is set to the normal state (transport width is W1, transport speed is the maximum speed (here, 40 [m / min]), and no vibration is generated by the vibration generating device 36).

[0025] When this routine starts, the CPU 80a inputs image data from the camera 14 (S110). Specifically, the CPU 80a inputs image data currently captured by the camera 14 and stores it in the HDD 80d.

[0026] Subsequently, the CPU 80a detects the foreign object 4 (S120). Specifically, the CPU 80a first detects the area of the waste material 2 in the image data input in S110. Subsequently, the CPU 80a acquires the RGB values within the area of the waste material 2. Subsequently, the CPU 80a compares the RGB values within the area of the waste material 2 with the range of the RGB values of the target object 3 stored in the HDD 80d in advance. Then, the CPU 80a detects, as the area of the foreign object 4, the area within the area of the waste material 2 that deviates from the range of the RGB values of the target object 3.

[0027] Subsequently, the CPU 80a calculates the amount of the foreign object 4 (S130). Specifically, the CPU 80a counts the number of areas of the foreign object 4 detected in S120 and stores it in the RAM 80c.

[0028] Subsequently, the CPU 80a determines whether the amount of the foreign object 4 is equal to or greater than a predetermined specified amount (S140). If the amount of the foreign object 4 calculated in S120 is less than the specified amount, the CPU 80a sets the transport state of the second transport device 22b to the normal state (S150) and ends this routine. The normal state is as described above.

[0029] On the other hand, if the amount of the foreign object 4 is equal to or greater than the specified amount in S130, the CPU 80a sets the transport state of the second transport device 22b to the restricted state (S160) and ends this routine. Specifically, as shown in FIG. 8, if the amount of the foreign object 4 calculated in S120 is 1 times or more and less than 2 times the specified amount, the CPU 80a sets it to the first restricted state. In the first restricted state, the transport speed is set to 30 [m / min], the transport width is set to Wa (W1 < Wa < W2), and vibration is applied by the vibration generator 36. If the amount of the foreign object 4 calculated in S120 is 2 times or more the specified amount, it is set to the second restricted state. In the second restricted state, the transport speed is set to 20 [m / min], the transport width is set to W2, and vibration is applied by the vibration generator 36. That is, the transport speed of the second transport device 22b is set to a speed corresponding to the detected amount of the foreign object 4, and the transport width of the second transport device 22b is set to a width corresponding to the detected amount of the foreign object 4.

[0030] After completing the transport state setting routine, if the transport state needs to be changed, the CPU 80a controls each member to set the transport state. For example, if the transport speed needs to be slowed down, the drive motor 60 is controlled to slow down the transport speed of the transport surface 32 of the second transport device 22b. If the transport speed needs to be increased, the drive motor 60 is controlled to increase the transport speed of the transport surface 32 of the second transport device 22b. If the transport width needs to be widened, the linear actuator 61 of the moving device 35 is controlled to move the side wall 33b in a direction away from the side wall 33a. If the transport width needs to be narrowed, the linear actuator 61 of the moving device 35 is controlled to move the side wall 33b in a direction approaching the side wall 33a.

[0031] Here, the correspondence between the components of this embodiment and those of the present disclosure will be clarified. The foreign matter removal device 10 of this embodiment corresponds to the foreign matter removal device of the present disclosure, the conveying line 22 corresponds to the conveying line, the first and second conveying devices 22a and 22b correspond to the conveying devices, the camera 14 corresponds to the detection unit, the robot hand 15 corresponds to the robot hand, the control device 80 corresponds to the control device, and the vibration generating device 36 corresponds to the vibration generating device.

[0032] The foreign matter removal device 10 described above changes the conveying state of the second conveying device 22b located downstream of the camera 14 in the conveying direction D, depending on the amount of foreign matter 4 detected by the camera 14 during conveying. Therefore, depending on the amount of foreign matter 4 contained in the waste material 2, the conveying state of the second conveying device 22b can be changed so that the robot hand 15 can appropriately remove the foreign matter 4.

[0033] Furthermore, in the foreign matter removal device 10, if the amount of foreign matter 4 detected by the camera 14 during conveyance exceeds a specified amount, the CPU 80a slows down the conveying speed and expands the conveying width. In this way, even if the amount of foreign matter 4 contained in the waste material 2 temporarily increases, the conveying speed is reduced, so that the time allocated to the robot hand 15 for removing the foreign matter 4 increases, and the robot hand 15 can remove all of the foreign matter 4. Furthermore, even if the conveying speed is reduced to expand the conveying width, it is possible to make it difficult for the waste material 2 to remain in the conveying device before and after the speed is reduced.

[0034] Furthermore, in the foreign matter removal device 10, when the conveying width is expanded, the CPU 80a expands the conveying width so that the conveying width becomes a conveying width corresponding to the amount of foreign matter 4 detected by the camera 14. Therefore, the conveying width can be expanded to a width corresponding to the amount of foreign matter 4 detected by the camera 14. In this case, the robot hand 15 is disposed outside the side wall 33b, and when the conveying width is expanded, the CPU 80a moves the side wall 33b of the second conveying device located downstream of the camera 14 in the conveying direction D in a direction away from the side wall 33a. Since the side wall 33a does not move, the moving distance of the robot hand 15 can be reduced.

[0035] The foreign matter removal device 10 is equipped with a vibration generator 36 that generates vibrations on the conveying line 22 downstream of the camera 14 in the conveying direction D and upstream of the robot hand 15. When vibrations are generated downstream of the camera 14 and upstream of the robot hand 15, the conveying width is widened while vibration is applied to the conveyed waste material 2, making it easier for the waste material 2 to spread across the entire conveying width.

[0036] It goes without saying that the present disclosure is in no way limited to the above-described embodiment, and can be embodied in various forms as long as it falls within the technical scope of the present disclosure.

[0037] For example, in the above-described embodiment, if the amount of detected foreign matter 4 exceeds a specified amount, the conveying speed is slowed down and the conveying width is widened, but this is not limited to the above. For example, if the amount of detected foreign matter 4 exceeds a specified amount, at least one of the conveying speed is slowed down and the conveying width is widened, or if the amount of detected foreign matter 4 exceeds a specified amount, only vibration may be applied without slowing down the conveying speed and widening the conveying width.

[0038] In the above-described embodiment, the camera 14 is a camera that captures color images, but is not limited to this. For example, the camera 14 may be an infrared camera that detects infrared rays. In this case, the camera may detect infrared rays from the waste material 2 being transported, and detect the area of ​​the target object 3 and the area of ​​the foreign object 4 based on the amount of infrared rays.

[0039] In the above-described embodiment, if the amount of the detected foreign matter 4 exceeds a specified amount, the conveying speed is slowed down and the conveying width is expanded, but this is not limited to the above. For example, if the ratio of the foreign matter 4 to the waste material 2 exceeds a predetermined specified ratio, the conveying speed may be slowed down and the conveying width may be expanded. In this case, for example, in S130, the ratio of the foreign matter 4 to the waste material 2 may be obtained by calculating the ratio of the number of pixels in the area of ​​the foreign matter 4 to the number of pixels in the area of ​​the waste material 2 detected in S120.

[0040] In the above-described embodiment, the conveying line 22 is configured using the first and second conveying devices 22a and 22b, but the present invention is not limited to this. For example, the conveying line 22 may be configured using three or more conveying devices. In this case, the conveying devices downstream of the camera 14 in the conveying direction D may individually slow down the speed, individually expand the conveying width, or individually apply vibration.

[0041] In the above embodiment, when the amount of detected foreign matter 4 exceeds a specified amount, the conveying speed is reduced and the conveying width is expanded in three stages depending on the amount of foreign matter 4, but this is not limited to the above. For example, in the above embodiment, the conveying speed may be reduced and the conveying width may be expanded in four or more stages depending on the amount of foreign matter 4, the conveying speed may be reduced and the conveying width may be expanded in two stages depending on the amount of foreign matter 4, or the conveying speed may be reduced and the conveying width may be expanded steplessly depending on the amount of foreign matter 4. Furthermore, when the amount of foreign matter 4 exceeds a specified amount, a predetermined limiting state (for example, a second limiting state) may be set regardless of the amount of foreign matter 4.

[0042] In the above-described embodiment, the sampling member 53 is a mechanical chuck that has a plurality of claws and grasps and samples the foreign matter 4, but is not limited to this. For example, the sampling member 53 may be a nozzle that adsorbs and samples the foreign matter 4.

[0043] In the above-described embodiment, the robot hand 15 is configured as a multi-joint arm robot, but is not limited thereto. For example, as in the foreign matter removal device 110 shown in FIG. 9, the robot hand 115 may be configured using an XY robot. The robot hand 115 moves the tip 50 in the XY-axis direction, and includes an X-axis slider 145 and a Y-axis slider 143 as shown in FIG. 9. The X-axis slider 145 is supported by a pair of upper and lower guide rails 144 provided on the left surface of the Y-axis slider 143 so as to extend in the X-axis direction, and can be moved in the X-axis direction by driving an X-axis motor (not shown). The Y-axis slider 143 is supported by a pair of front and rear guide rails 142 installed on a pair of rail installation parts 140 arranged so as to straddle the second transfer device 22b in the front-rear direction, and can be moved in the Y-axis direction by driving a Y-axis motor (not shown). The left surface of the X-axis slider 145 is provided with an elevation mechanism 150 for moving the tip 50 in the Z-axis direction. The lifting mechanism 150 can lift and lower the tip portion 50 by driving a Z-axis motor (not shown). In Fig. 9, the same components as those in the above-mentioned embodiment are given the same reference numerals and the description thereof will be omitted.

[0044] Here, the foreign matter removal device of the present disclosure may be configured as follows.

[0045] In the foreign matter removal device of the present disclosure, the conveying state may be at least one of a conveying speed and a conveying width when the conveying device conveys the waste material, and the control device may change the conveying state if the amount of the foreign matter detected by the detection unit during conveying exceeds a predetermined specified amount. In this way, at least one of the conveying speed and the conveying width can be changed so that the foreign matter can be appropriately removed by the robot hand when the amount of the foreign matter exceeds the specified amount.

[0046] In the foreign matter removal device of the present disclosure, the control device may slow down the conveying speed and expand the conveying width if the amount of foreign matter detected by the detection unit during conveying exceeds the specified amount. In this way, even if the amount of foreign matter contained in the waste material during conveying temporarily increases, the conveying speed is reduced, so that the time allocated to the robot hand to remove the foreign matter increases, and all of the foreign matter can be removed by the robot hand. Also, even if the conveying speed is reduced to expand the conveying width, it is possible to make it difficult for the waste material to accumulate in the conveying device before and after the speed is reduced.

[0047] In the foreign matter removal device of the present disclosure, when the control device reduces the conveying speed, the control device may reduce the conveying speed to a speed corresponding to the amount of the foreign matter detected by the detection unit. In this way, the conveying speed can be reduced to a speed corresponding to the amount of the foreign matter detected by the detection unit. Therefore, for example, if the amount of the foreign matter detected by the detection unit slightly exceeds a specified amount, the conveying speed of the conveying device located downstream of the detection unit in the conveying direction can be slightly reduced to prevent a significant reduction in the amount of waste material processed per certain time. Also, for example, if the amount of the foreign matter detected by the detection unit significantly exceeds a specified amount, the conveying speed of the conveying device located downstream of the detection unit in the conveying direction can be significantly reduced to sufficiently increase the time allocated to the robot hand to remove the foreign matter, and the robot hand can remove all the foreign matter.

[0048] In the foreign matter removal device of the present disclosure, when the control device expands the conveying width, the control device may expand the conveying width so that the conveying width becomes a width corresponding to the amount of foreign matter detected by the detection unit. In this way, the conveying width can be expanded to a width corresponding to the amount of foreign matter detected by the detection unit. In this case, the robot hand may be disposed outside one of the side walls, and when the control device expands the conveying width, the control device may move the other side wall of the conveying device located downstream in the conveying direction from the detection unit in a direction away from the one of the side walls. In this way, the side wall on the side where the robot hand is provided does not move, and the moving distance of the robot hand can be reduced.

[0049] The foreign matter removal device of the present disclosure may further include a vibration generating device that generates vibrations on the conveying line downstream of the detection unit in the conveying direction and upstream of the robot hand. In this way, vibrations can be generated downstream of the detection unit and upstream of the robot hand. For example, when widening the conveying width, the conveying width can be widened while applying vibration to the conveyed waste material, making it easier for the waste material to spread across the entire conveying width. [Industrial Applicability]

[0050] The present disclosure can be used for recycling industrial waste, etc. [Explanation of symbols]

[0051] 1 recycling system, 2 waste material, 3 target object, 4 foreign object, 10 foreign object removal device, 11a primary crusher, 11b secondary crusher, 12a primary magnetic separator, 12b secondary magnetic separator, 13 screening machine, 14 camera, 15 robot hand, 16 camera holding member, 20-25 conveying line, 22a first conveying device, 22b second conveying device, 30 conveying surface, 31a, 31b side wall, 32 conveying surface, 33a, 33b side wall, 34 expandable member, 35 moving device, 36 vibration generating device, 40 first arm, 41 first driving unit, 42 second arm, 43 second driving unit, 44 support unit, 45 third driving unit, 46 support shaft, 47 pedestal unit, 50 tip unit, 51 base unit, 52 mounting unit, 53 Collection member, 54 camera, 58 fourth drive unit, 60 drive motor, 61 linear actuator, 62 vibration motor, 70 control unit, 80 control device, 80a CPU, 80b ROM, 80c RAM, 80d HDD, 81 transport state management data, 110 foreign matter removal device, 115 robot hand, 140 rail installation unit, 142 guide rail, 143 Y-axis slider, 144 guide rail, 145 X-axis slider, 150 lifting mechanism, D transport direction.

Claims

1. A conveying device having a conveying surface for conveying waste materials and side walls provided on both sides of the conveying surface; a conveying line in which a plurality of the conveying devices are arranged along a conveying direction of the waste material; a camera for detecting foreign objects contained in the waste material transported by the transport line; a robot hand that is provided downstream of the camera in the conveying direction and that removes the foreign object detected by the camera from the conveying line; a control device that expands a conveying width of a second conveying device located downstream of the camera in the conveying direction when the number of regions of the foreign object detected by the camera during conveying exceeds a specified number; A foreign object removal device comprising: an actuator for expanding a conveying width of the second conveying device; a slider that moves the robot hand in a direction in which the conveying width is expanded by the actuator; A foreign object removal device comprising:

2. detecting the waste material on the conveying surface with the camera held above the conveying surface; The foreign matter removal device according to claim 1 .

3. The actuator moves a side wall of the second conveying device, The robot hand is movable by the slider to a maximum conveying width of the second conveying device.

3. The foreign matter removal device according to claim 1 or 2.

4. When the control device expands the conveying width, the control device expands the conveying width to a width corresponding to the number of regions of the foreign object detected by the camera. The foreign matter removal device according to any one of claims 1 to 3.

5. The control device further slows down a conveying speed of the second conveying device when conveying the waste material if the number of areas of the foreign object detected by the camera during conveying exceeds a predetermined number. The foreign matter removal device according to any one of claims 1 to 4.

6. When the control device reduces the conveying speed, the control device reduces the conveying speed to a speed corresponding to the number of regions of the foreign matter detected by the camera. The foreign matter removal device according to claim 5.

7. The foreign matter removal device according to any one of claims 1 to 6, a vibration generating device that generates vibrations on the conveying line downstream of the camera in the conveying direction and upstream of the robot hand; A foreign object removal device comprising:

Images