Foreign matter removal device and foreign matter removal method

Abstract

A foreign matter removal device according to the present disclosure comprises: a detection unit that detects an object conveyed in a conveyance direction by a conveyance device; a removal unit that grips, with a collection member, foreign matter contained in the object conveyed in the conveyance direction by the conveyance device; and a control unit that causes a removal operation in which the collection member is opened above the foreign matter conveyed on the conveyance device detected by the detection unit and the object placed over the foreign matter is removed, and causes the collection member to collect the foreign matter.

Description

Foreign matter removal device and foreign matter removal method

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

[0002] Conventionally, a device for picking up an item has been proposed in which, before the chuck is opened, a coil spring is compressed, and a downward force is applied to the gripping jaws by the coil spring, and when the chuck is opened, the resultant force of the chuck opening force and the restoring force of the coil spring causes the gripping jaws to automatically move diagonally downward, and if there is another workpiece adjacent to the workpiece to be gripped, the adjacent workpiece is moved so as to be knocked away (see, for example, Patent Document 1). This device is said to be able to easily and accurately pick up closely spaced workpieces one after another.

[0003] JP 2013-202730 A

[0004] However, although the device in Patent Document 1 is capable of picking up workpieces that are in a close contact state, there are various states of workpieces, and there are cases where the workpieces cannot be picked up sufficiently when they are covered by other objects, etc. Thus, there has been a demand for a more reliable method of picking up target objects.

[0005] The present disclosure has been made to solve such problems, and a main object of the present disclosure is to provide a foreign matter removal device and a foreign matter removal method that can more reliably collect foreign matter.

[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 comprises a detection unit that detects an object being transported in the transport direction by a transport device; a removal unit that uses a collection member to grasp foreign matter contained in the object being transported in the transport direction by the transport device; and a control unit that executes a removal operation to open the collection member above the foreign matter being transported on the transport device detected by the detection unit and remove any object hanging above the foreign matter, causing the collection member to collect the foreign matter.

[0008] In this foreign body removal device, the collection member is opened above the foreign body to perform a removal operation to remove any objects hanging above the foreign body, making it easier for the collection member to access the foreign body. Therefore, this foreign body removal device can more reliably collect foreign bodies.

[0009] 1 is an explanatory diagram showing an example of the configuration of a recycling system 10. An explanatory diagram showing an example of the schematic configuration of a foreign matter removal device 30. A perspective view showing an example of the schematic configuration of a removal unit 40. A side view, a front view, and a perspective view showing an example of a collection unit 45. An explanatory diagram showing examples of captured images 71 and 72 of a detection unit 31. A flowchart showing an example of a foreign matter removal processing routine. An explanatory diagram showing an example of a foreign matter collection operation when there is no object on the foreign matter 14. An explanatory diagram showing an example of an operation to remove an object on the foreign matter 14. An explanatory diagram showing an example of a foreign matter collection operation after an operation to remove an object on the foreign matter 14. A flowchart showing an example of another foreign matter removal processing routine. An explanatory diagram showing an example of an operation to remove an object on a foreign matter 14 that has been fixed and released. An explanatory diagram showing an example of a foreign matter collection operation in which a collection member 49 is swung by a buffer unit 62.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is an explanatory diagram illustrating an example of the configuration of a recycling system 10 for recycling waste materials. FIG. 2 is an explanatory diagram illustrating an example of the schematic configuration of a foreign matter removal device 30. FIG. 3 is a perspective view illustrating an example of the schematic configuration of a removal unit 40 and an explanatory diagram of a collection unit 45. FIG. 4 is an explanatory diagram illustrating an example of the collection unit 45, with FIG. 4A being a side view, FIG. 4B being a front view, and FIG. 4C being a perspective view. FIG. 5 is an explanatory diagram illustrating an example of captured images 71 and 72 captured by a detection unit 31. 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 3. In this embodiment, the direction in which the processing material 12 to be processed is transported is referred to as a transport direction D, and the direction in which the collection member 49 moves when collecting foreign matter 14 is referred to as a collection direction P.

[0011] The material to be treated 12 in the recycling system 10 is a mixture of waste materials 13 to be recycled, such as stone, sand, and concrete, and foreign matter 14, including paper, resin, wood, metal, etc. As shown in Figure 1, the recycling system 10 includes a primary crusher 15, a primary magnetic separator 16, a screening machine 17, a foreign matter removal device 30, a secondary crusher 18, a secondary magnetic separator 19, and conveying devices 20-25.

[0012] The primary crusher 15 is a device that performs primary crushing of the raw material 12. This primary crusher 15 crushes the material 12 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 impurities contained in the material 12. The screening machine 17 is a device that separates the material 12 by passing the material 12 over a mesh, separating the material 12 from those that are smaller than the primary size. The secondary crusher 18 is a device that performs secondary crushing of the material 12 to a size smaller than that of the primary crusher 15. This secondary crusher 18 crushes the 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 impurities from the material 12 that were not completely removed by the primary magnetic separator 16 and the impurity removal device 30.

[0013] The conveying devices 20 to 25 as the conveying line are devices that place the treatment material 12 on a conveying surface and convey it along the conveying direction D, and are configured as, for example, belt conveyors. Note that the conveying devices 20 to 25 may be configured as devices other than belt conveyors as long as they are capable of conveying the treatment material 12.

[0014] The foreign matter removal device 30 is configured as a collection device that collects objects, places the processing material 12 on the conveying surface of the conveying device 22, conveys the processing material 12 in a conveying path, and collects and removes the foreign matter 14. As shown in Figure 2, the foreign matter removal device 30 is composed of a detection unit 31, a removal section 40, and a control device 50. The foreign matter removal device 30 also includes a disposal section 36. The conveying device 22 places the processing material 12 on the conveying surface and conveys the processing material 12 at a predetermined conveying speed.

[0015] The detection unit 31 is a device that detects the waste material 13 and foreign matter 14 as targets, as well as the conditions surrounding the foreign matter 14. The detection unit 31 is disposed upstream of the removal unit 40 in the conveying direction D. The detection unit 31 includes a detection unit 32 that detects objects such as the waste material 13 and the treatment material 12 containing the foreign matter 14 being conveyed by the conveying unit 22, and a detection unit 33 that detects the height of the object being conveyed by the conveying unit 22. 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 22 and conveyed. The detection unit 32 captures an image of a predetermined range including the treatment material 12 from above the conveying surface of the conveying device 22 and outputs the image data to the control device 50. As shown in FIG. 5 , the detection unit 32 captures captured images 71 and 72 that include the waste material 13 and foreign matter 14. The captured image 71 is an example of an image in which the treatment material 12 is not being conveyed on the conveying device 22. The captured image 72 is an example of an image of the treatment material 12 and foreign matter 14 being transported on the transport device 22. The detection unit 33 detects the height of the treatment material 12 and foreign matter 14 on the transport device 22. The detection unit 33 is, for example, located upstream of the removal unit 40 in the transport direction D and may be 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 units 32 and 33 are held above the transport surface of the transport device 22 by a holding member arranged to straddle the transport device 22 in the left-right direction. The detection unit 33 outputs information regarding the detected height of the treatment material 12 to the control device 50.

[0016] The disposal unit 36 ​​is a dust box that serves as a storage unit for storing the foreign objects 14. The foreign objects 14 collected by the collection unit 45 of the removal unit 40 are dropped into the disposal unit 36. The disposal unit 36 ​​may have multiple storage containers for separating the foreign objects 14 according to their weight or material.

[0017] The removal unit 40 is a device that uses a collection member 49 to collect and remove objects, such as foreign matter 14, contained in the treatment material 12 being transported in the transport direction D by the transport device 22. The removal unit 40 is configured, for example, as an XY robot. The removal unit 40 detects and removes foreign matter 14 present in the treatment material 12 based on images captured by the detection unit 32. The removal unit 40 is located downstream of the detection unit 31 in the transport direction D. The removal unit 40 includes an X-axis slider 41, a Y-axis slider 43, and a collection unit 45. The removal unit 40 discards the collected foreign matter 14 in a disposal unit 36 ​​disposed to the side of the transport device 22. The removal unit 40 may also have other configurations, such as an articulated arm robot.

[0018] The X-axis slider 41 includes a drive mechanism. This drive mechanism includes a guide rail installed in a direction perpendicular to the conveying direction D of the conveying device 22, a slider that moves along the guide rail, and a drive motor that drives the slider. The guide rail is fixed to a slider of a Y-axis slider 43 that is installed on the conveying unit 22 along the conveying direction D. A sampling head 48 with an elevator unit 46 is fixed to the slider of the X-axis slider 41. The X-axis slider 41 moves the sampling head 48 along the X-axis direction by a drive mechanism. The Y-axis slider 43 includes a drive mechanism. This drive mechanism includes a guide rail installed in 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 member that is installed on the conveying unit 22 along the conveying direction D. The X-axis slider 41 is installed on the slider of the Y-axis slider 43. The Y-axis slider 43 moves the X-axis slider 41 along the Y-axis direction by a drive mechanism.

[0019] The sampling unit 45 is a unit that samples objects such as foreign matter 14 using a sampling member 49, and includes, for example, an elevator 46, a sampling head 48, and the sampling member 49. The sampling unit 45 grips and releases the grip of the foreign matter 14 by opening and closing the sampling member 49 to sample and remove it from the processing material 12. The sampling unit 45 opens and closes the sampling member 49 using a gripping drive unit (not shown). The sampling member 49 is moved in the X, Y, and Z directions within a predetermined range of the transport unit 22 by the X-axis slider 41, the Y-axis slider 43, and the elevator 46. The elevator 46 is a drive mechanism fixed to the sampling head 48 disposed on the X-axis slider 41, and moves the sampling member 49 up and down along the Z-axis direction, which is the sampling direction P. This drive mechanism may be the same as the drive mechanisms for the X-axis slider 41 and the Y-axis slider 43. The sampling member 49 is a member for sampling an object and may be configured to grasp the object. The sampling member 49 includes a base 68 and gripping claws 69. The base 68 is removably fixed to the mounting portion 63 and is a main body that pivotally supports the gripping claws 69. The sampling member 49 has a rectangular parallelepiped base 68. A gripping drive unit (not shown) is disposed on the base 68, and the gripping drive unit rotates the gripping claws 69, opening and closing their tips. The sampling member 49 is mounted on the sampling head 48 so that the base 68 can rotate 360° around the vertical axis of the support portion 61. The gripping claws 69 are a pair of members that grasp an object. The gripping claws 69 have a base side on the base 68 side with a width W1 and a tip with a width W2 narrower than the width W1. The removal unit 40 includes a sampling member 49 whose width narrows toward the tip. If the gripping claws 69 have such a shape, they can be easily inserted into the treatment material 12, which is preferable.

[0020] As shown in FIGS. 3 and 4 , the sampling unit 45 includes a support unit 61, a buffer unit 62, an attachment unit 63, and a fixing unit 67. The support unit 61 is disposed on the sampling head 48 and supports the sampling member 49. The support unit 61 is rotatably supported on the lift unit 46 disposed on the sampling head 48. A supply pipe is disposed on the support unit 61 to supply positive or negative pressure to the gripping drive unit disposed on the base 68. The buffer unit 62 is a mechanism that supports the sampling member 49 so that it can swing relative to the support unit 61. The buffer unit 62 is a joint between the support unit 61 and the attachment unit 63 and is a mechanism that expands, contracts, and swings. The buffer unit 62 is disposed on the underside of the support unit 61. The buffer unit 62 includes a guide unit 64, a biasing member 65, and an air cylinder 66. The guide portion 64 is a member that at least guides the mounting portion 63 along the sampling direction P, which the mounting portion 63 moves in when sampling an object. The guide portion 64 is a columnar member, and multiple guide portions 64 are fixed to the outer periphery of the underside of the support portion 61. The lower end of each guide portion 64, i.e., the tip side, protrudes downward through a through-hole provided in the mounting portion 63, and a nut is fixed to the tip. The through-hole has a relatively large margin compared to the diameter of the guide portion 64, and the sampling member 49 swings relative to the support portion 61 according to this margin (see dotted lines in Figures 4A and 4B). The biasing member 65 is a member that biases the mounting portion 63 downward along the guide portion 64 in the sampling direction P. This biasing member 65 may be a spring. The biasing member 65 generates a restoring force for the sampling member 49 after swinging. The air cylinder 66 is disposed inside the support portion 61 and strokes the guide portion 64. The air cylinder 66 expands and contracts between the support portion 61 and the mounting portion 63. The mounting portion 63 is a disk-shaped member to which the sampling member 49 is removably attached. The mounting portion 63 has a plurality of through holes, through which the sampling member 49 is fastened with screws. The fixing portion 67 fixes and releases the swinging of the buffer portion 62. The fixing portion 67 may be, for example, a rod-shaped member that moves between a fixed position that fixes the swinging of the mounting portion 63 and a swinging position that swings the mounting portion 63. In the sampling portion 45, the fixing portion 67 presses the mounting portion 63 against a nut fixed to the tip of the guide portion 64, thereby fixing the mounting portion 63 so that it cannot swing.

[0021] The control device 50 controls the entire foreign matter removal device 30 and includes a control unit 51 and a memory unit 52. The control unit 51 is configured as a microprocessor centered on a CPU and controls the entire device. The control unit 51 outputs control signals to the detection unit 31 and the removal unit 40 and inputs signals from the detection unit 31 and the removal unit 40. The memory unit 52 is a storage medium for storing information and is configured, for example, with an HDD or flash memory. The control unit 51, which will be described in detail later, opens the collection member 49 above the foreign matter 14 transported on the transport device 22 detected by the detection unit 32, performs a removal operation to remove any object hanging above the foreign matter 14, and then causes the collection member 49 to collect the foreign matter 14.

[0022] Next, the operation of the foreign matter removal device 30 configured as described above will be described. First, the process of removing foreign matter 14 from the material 12 to produce waste material 13 will be described. Here, the operation of collecting foreign matter 14 while the buffer unit 62 is fixed in place by the fixing unit 67 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 rather than constantly. FIG. 6 is a flowchart illustrating an example of a foreign matter removal processing routine executed by the control unit 51 of the control device 50. This routine is stored in the memory unit 52 and is executed by the control unit 51 after the foreign matter removal device 30 is started. When this routine is started, the control unit 51 first drives the conveying device 22 (S100) and acquires an image of the conveying path and a detected height value from the detection unit 31 (S110).

[0023] Next, the control unit 51 determines whether it is time to detect a foreign object (S120). 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 22 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 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.

[0024] When it is time to detect a foreign object in S120, the control unit 51 acquires the captured image captured by the detection unit 32 and the height value measured by the detection unit 33, and performs a detection process for the waste material 13 and the foreign object 14 using the captured image and the height value (S130). The control unit 51 performs the detection process for the treatment material 12, for example, by detecting an area whose luminance differs from that of the conveying surface of the conveying device 22 and designating that area as the area of ​​the treatment material 12. The control unit 51 may also determine the area of ​​the treatment material 12 from the acquired height of the conveying surface. Furthermore, the control unit 51 can determine the presence or absence of the foreign object 14 based on whether or not the captured image contains an area of ​​the foreign object 14 whose luminance value differs from that of the waste material 13 (see FIG. 5 ).

[0025] Next, the control unit 51 determines whether or not there is a foreign object 14 in the image captured by the transport device 22 (S140). If there is a foreign object 14 on the transport device 22, the control unit 51 determines whether or not there is an object hanging above the foreign object 14 based on the height information from the detection unit 33 (S150). The control unit 51 acquires the height Hu of the upper surface of the foreign object 14 and the height of its surroundings, and makes the determination in S150. If there is no object above the foreign object 14 in S150, the control unit 51 executes a normal foreign object collection operation (S160 to S190).

[0026] Specifically, the control unit 51 sets a rotation angle θ of the collection member 49 that collects the foreign matter 14 (S160). For example, the control unit 51 may set this rotation angle θ so that the gripping claws 69 are positioned at a location where other objects are less likely to be in close proximity to the foreign matter 14. Setting the rotation angle θ in this manner allows the collection unit 45 to more reliably collect the foreign matter 14 without coming into contact with any objects surrounding the foreign matter 14. Next, the control unit 51 rotates the collection member 49 about the set rotation angle θ and determines whether the collection start timing for collecting the foreign matter 14 has arrived (S170). If the collection start timing has not arrived, the control unit 51 remains in standby mode. The collection start timing may be set to a time calculated based on the collection position of the foreign matter 14 moving along the conveyance direction D and the travel distance of the collection head 48, and then calculated based on this time. On the other hand, when the timing to start collection arrives, the control unit 51 moves the collection member 49 along the movement path to the foreign object 14 to a collection position where the foreign object 14 will be collected (S180), and lowers the collection member 49 to have the gripping claws 69 grip the collection member 49. Figure 7 is an explanatory diagram showing an example of the foreign object collection operation when no object is hanging on the foreign object 14. As shown in Figure 7, when there is no object higher than the foreign object 14 around the foreign object 14, the control unit 51 closes the gripping claws 69 from the open state, and causes the collection member 49 to collect the foreign object 14.

[0027] On the other hand, if an object is found hanging above the foreign object 14 in S150, the control unit 51 acquires the maximum height Hm of the objects surrounding the foreign object 14 and the average height Ha of the objects surrounding the foreign object 14 (S200). The maximum height Hm may include the maximum height. Next, the control unit 51 sets the open position Po of the gripping claws 69 of the collection member 49 based on the surrounding height value, and also sets the closed position Pc of the gripping claws 69 (S210). When an object is found hanging above the foreign object 14, the foreign object removal device 30 performs a removal operation to open the gripping claws 69 of the collection member 49 from the closed state and remove the object from above the foreign object 14. The control unit 51 sets the open position Po using, for example, the foreign object height Hu of the top surface of the foreign object 14, the maximum height Hm and average height Ha of the surrounding objects, and taking into account the opening speed of the gripping claws 69 and the descending speed of the collection member 49. The open position Po may be set at a position that allows for more reliable removal of an object located above the foreign object 14, which is empirically determined using the foreign object height Hu, the average height Ha, the opening speed of the gripping jaws 69, and the descending speed of the collection member 49. The closed position Pc may be set at a position that allows for more reliable gripping of the foreign object 14, which is empirically determined using the foreign object height Hu, the maximum height Hm, the average height Ha, the closing speed of the gripping jaws 69, the descending speed of the collection member 49, etc.

[0028] Next, the control unit 51 sets the rotation angle θ of the collection member 49 (S220). For example, the control unit 51 may set the rotation angle θ so that the gripping claws 69 are positioned closest to the maximum or local maximum height values ​​of objects surrounding the foreign object 14. Setting the rotation angle θ in this manner makes it easier for the collection unit 45 to remove objects surrounding the foreign object 14 by opening the gripping claws 69. Next, the control unit 51 rotates the collection member 49 around the set rotation angle θ and determines whether the collection start timing for collecting the foreign object 14 has arrived (S230). If the collection start timing has not arrived, the control unit 51 waits. On the other hand, if the collection start timing has arrived, the control unit 51 moves the collection member 49 to a collection position where the foreign object 14 will be collected (S240). At this time, the control unit 51 moves the collection member 49 along the movement path to the foreign object 14 with the gripping claws 69 closed. Next, when the collection member 49 reaches above the foreign object 14, the control unit 51 causes the collection unit 45 to execute a removal operation to open the gripping claws 69 while lowering the collection member 49 and, when the collection member 49 reaches the open position Po, to open the gripping claws 69 (S250). At this time, the control unit 51 performs the removal operation by opening the collection member 49 from a closed state of the gripping claws 69 of the collection member 49 above the foreign object 14 so that the outer surfaces of the gripping claws 69 come into contact with an object around the foreign object 14. Then, after starting to open the collection member 49, the control unit 51 causes the collection member 45 to execute a foreign object collection operation to close the gripping claws 69 while lowering the collection member 49 and, when the collection member 49 reaches the closed position Pc, to close the gripping claws 69 (S260).

[0029] FIG. 8 is an explanatory diagram showing an example of an operation for removing an object on the foreign object 14. FIG. 8A shows the gripping claws 69 being inserted into the object on the foreign object 14, and FIG. 8B is an explanatory diagram of the removal operation with the gripping claws 69 opened. FIG. 9 is an explanatory diagram showing an example of an operation for collecting a foreign object after the operation for removing an object on the foreign object 14. FIG. 9A shows the gripping claws 69 being closed, and FIG. 9B shows the foreign object 14 being gripped and collected. FIGS. 8 and 9 show an example in which the open position Po is set between the average height Ha and the foreign object height Hu, and the closed position Pc is set between the foreign object height Hu and the conveyance surface. Furthermore, the control unit 51 recognizes the position of the lowest end of the collection member 49 as the position of the collection member 49 in each determination. When the collection member 49 reaches the foreign object 14, the control unit 51 lowers the collection member 49 ( FIG. 8A ). When the collection member 49 reaches the open position Po, the control unit 51 opens the gripping claws 69 ( FIG. 8B ). At this time, any object abutting the outer surface of the gripping claws 69 is removed from the foreign object 14. Then, when the collection member 49 reaches the open position Po, the control unit 51 closes the gripping claws 69 ( FIG. 9A ). By performing this removal operation, it is possible to more reliably collect only the foreign object 14 without involving other waste material 13.

[0030] After S260 or S190, the control unit 51 raises the collection member 49 ( FIG. 9B ) and moves the collection member 49 to the disposal unit 36 ​​(S270). Subsequently, the control unit 51 releases the foreign object 14 above the disposal unit 36 ​​and moves the collection member 49 to the next position (S280). Regarding the "next position," the control unit 51 may move the collection member 49 to the initial position if there is no foreign object 14 to be collected next, or to the position where the next foreign object 14 is located if there is a next foreign object 14. If there is a next foreign object, the control unit 51 executes the processes of S150 to S280. After S280, or if it is not the timing for foreign object detection in S120, or if there is no foreign object 14 in S140, the control unit 51 determines whether the recycling process of the processing material 12 has been completed (S290). If the recycling process of the processing material 12 has not been completed, the control unit 51 executes the processes from S110 onward. That is, the control unit 51 acquires an image of the transport path and a height value, detects the foreign matter 14, determines whether or not a removal operation is required, and executes a foreign matter collection operation. On the other hand, when the recycling process of the processing material 12 is completed in S280, the control unit 51 stops the transport device 22 (S290) and ends this routine.

[0031] 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 removal unit 40 corresponds to an example of a removal unit, the collection unit 45 corresponds to an example of a collection unit, the detection unit 32 corresponds to an example of a detection unit, the detection unit 33 corresponds to an example of a detection unit, and the control unit 51 corresponds to an example of a control unit. Furthermore, the collection head 48 corresponds to an example of a collection head, the support unit 61 corresponds to an example of a support unit, the buffer unit 62 corresponds to an example of a buffer unit, the mounting unit 63 corresponds to an example of a mounting unit, the guide unit 64 corresponds to an example of a guide unit, and the biasing member 65 corresponds to an example of a biasing member. Furthermore, the conveying device 22 corresponds to an example of a conveying device, the foreign matter 14 corresponds to an example of a target object, the conveying direction D corresponds to an example of a conveying direction, and the collection direction P corresponds to an example of a collection direction. Note that, in this embodiment, by explaining the operation of the foreign matter removal device 30, an example of a foreign matter removal method of the present disclosure will also be clarified.

[0032] The foreign matter removal device 30 described above includes a detection unit 32 that detects an object being transported in the transport direction D by the transport device 22, a removal unit 40 that uses a collection member 49 to grasp foreign matter 14 contained in the treatment material 12, which is an object being transported in the transport direction D by the transport device 22, and a control unit 51 that opens the collection member 49 above the foreign matter 14 being transported on the transport device 22 detected by the detection unit 32 and performs a removal operation to remove any object hanging above the foreign matter 14, causing the collection member 49 to collect the foreign matter 14. In this foreign matter removal device 30, the collection member 49 is opened above the foreign matter 14 and performs the removal operation to remove any object hanging above the foreign matter 14, making it easier for the collection member 49 to access the foreign matter 14. Therefore, this foreign matter removal device 30 can more reliably collect foreign matter 14. At this time, the control unit 51 performs a removal operation by opening the collection member 49 from a closed state above the foreign body 14 so that the outer surface of the collection member 49 comes into contact with an object surrounding the foreign body 14.

[0033] Furthermore, in the foreign matter removal device 30, the control unit 51 executes the removal operation while lowering the collection member 49 toward the foreign matter 14. This foreign matter removal device 30 can further improve the efficiency of the foreign matter removal operation. The foreign matter removal device 30 also includes a detection unit 33 that detects the height of an object being transported in the transport direction D by the transport device 22, and the control unit 51 starts opening the collection member 49 based on the height value of objects present around the foreign matter 14 detected by the detection unit 33. In this foreign matter removal device 30, the height of objects present around the foreign matter 14 is used, thereby enabling more reliable removal of the object during the removal operation. Furthermore, the control unit 51 sets an opening position Po at which opening of the collection member 49 starts based on the height value of objects present around the foreign matter 14 detected by the detection unit 33. This foreign matter removal device 30 enables more reliable removal of the object during the removal operation by using the opening position Po. Furthermore, after starting to open the collection member 49, the control unit 51 starts to close the collection member 49 based on the height values ​​of objects present around the foreign object 14 and / or the height value of the foreign object 14 detected by the detection unit 33. In this foreign object removal device 30, the heights of the objects present around the foreign object 14 and the height of the foreign object 14 are used, so that the foreign object 14 can be more reliably removed by the foreign object collection operation after the removal operation. Furthermore, the control unit 51 sets a closing position Pc at which to start closing the collection member 49 based on the height values ​​of objects present around the foreign object 14 and / or the height value of the foreign object 14 detected by the detection unit 33. In this foreign object removal device 30, the closing position Pc allows the foreign object 14 to be more reliably removed by the foreign object collection operation after the removal operation.

[0034] Furthermore, the control unit 51 executes the removal operation when the detection unit 32 detects that there is another object above the foreign object 14. This foreign object removal device 30 can more reliably remove other objects above the foreign object 14. Furthermore, the control unit 51 omits the execution of the removal operation when the detection unit 32 detects that there is no other object above the foreign object 14. This foreign object removal device 30 can more efficiently remove the foreign object 14 by omitting the removal operation. Furthermore, in the foreign object removal device 30, the removal unit 40 includes a sampling head 48 that moves on the transport device 22, a support unit 61 that is disposed on the sampling head 48 and supports the sampling member 49, and a buffer unit 62 that supports the sampling member 49 so that it can swing relative to the support unit 61. In this foreign object removal device 30, the buffer unit 62 allows the sampling member 49 to approach the foreign object 14 while swinging, making it easier to access the foreign object 14 and more reliably removing the foreign object 14. Furthermore, the buffer unit 62 includes a guide unit 64 that at least guides the mounting unit 63, to which the collection member 49 is attached, in the collection direction P along which the object moves when collecting the object, and a biasing member 65 that biases the mounting unit 63 in the collection direction P along the guide unit 64. In this foreign body removal device 30, the configuration of the guide unit 64 and the biasing member 65 allows the collection member 49 to approach the foreign body 14 while being swung. Furthermore, the removal unit 40 includes the collection member 49 that has a shape that narrows toward the tip. In this foreign body removal device 30, even if other objects are present around the foreign body 14, the collection member 49 can more easily penetrate, thereby more reliably removing the foreign body 14.

[0035] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0036] For example, in the embodiment described above, the control unit 51 performs the removal operation and the foreign body collection operation while moving the collection member 49 toward the foreign body 14 along the collection direction P, but this is not particularly limited thereto, and the control unit 51 may lower the collection member 49 to an object hanging over the foreign body 14, stop the collection member 49, and then perform the removal operation. This foreign body removal device 30 can more reliably remove objects present around the foreign body 14.

[0037] In the above-described embodiment, the detector 33 is provided to detect the height of an object being transported on the transport device 22. However, this is not particularly limited, and the detector 33 may be omitted. In this case, the controller 51 may not initiate opening of the collection member 49 using a height value. Furthermore, the controller 51 may omit setting the opening position Po. For example, the controller 51 may execute a removal operation in which the collection member 49 begins to open when a predetermined height is reached, regardless of the height of the periphery of the foreign object 14. This foreign object removal device 30 can simplify the configuration and further simplify the processing. Similarly, the controller 51 may not initiate closing of the collection member 49 using a height value. Furthermore, the controller 51 may omit setting the closing position Pc. For example, the controller 51 may execute a removal operation in which the collection member 49 begins to close when a predetermined height is reached, regardless of the height of the periphery of the foreign object 14. This foreign object removal device 30 can simplify the configuration and further simplify the processing.

[0038] In the embodiment described above, the removal operation is performed when an object is found hanging above the foreign object 14 in S150, and the removal operation is omitted when an object is not hanging above the foreign object 14. However, this determination may be omitted. That is, the control unit 51 may always perform the removal operation. With this foreign object removal device 30, although unnecessary operations may occur, the foreign object 14 can be more reliably collected.

[0039] In the above-described embodiment, the fixing unit 67 prevents the collection member 49 from swinging. However, this is not a limitation, and the collection member 49 may swing. For example, the removal unit 40 may include a fixing unit 67 that prevents the buffer unit 63 from swinging. The control unit 51 may perform the removal operation with the buffer unit 62 fixed by the fixing unit 67, and then release the fixing unit 67 to allow the collection member 49 to swing and collect the foreign matter 14. FIG. 10 is a flowchart illustrating another example of a foreign matter removal processing routine. FIG. 11 is an explanatory diagram illustrating an example of an operation to remove an object on a fixed and released foreign matter 14. FIG. 11A is an explanatory diagram illustrating the removal operation with the buffer unit 62 fixed, and FIG. 11B is an explanatory diagram illustrating the foreign matter collection operation with the buffer unit 62 released. FIG. 10 excerpts from the above-described foreign matter removal processing routine. The control unit 51 executes the foreign body removal process routine described above, moves the collection member 49 to the collection position for the foreign body 14 in S240, and then fixes the buffer unit 62 with the fixing unit 67 (S245) and executes the removal operation in S250 ( FIG. 11A ). In the collection unit 45, the collection member 49 does not swing, so surrounding objects can be forcefully pushed out when the gripping claws 69 are opened. Next, the control unit 51 releases the fixation of the buffer unit 62 with the fixing unit 67 (S255) and executes the foreign body collection operation in S260 ( FIG. 11B ). In the collection unit 45, the collection member 49 swings, so the gripping claws 69 can easily penetrate further downward on the outer periphery of the foreign body 14, making it easier to collect the foreign body 14. In this foreign body removal device 30, the collection member 49 executes the removal operation without swinging, and the collection member 49 swings to access the foreign body 14, thereby more reliably removing the foreign body 14.

[0040] In the above-described embodiment, the removal unit 40 includes the buffer unit 62, but is not limited to this and may not include the buffer unit 62. In this foreign matter removal device 30, the removal operation also removes objects around the foreign matter 14, so the foreign matter 14 can be more reliably removed. In the above-described embodiment, the removal unit 40 includes the fixing unit 67, but is not limited to this and may not include the fixing unit 67.

[0041] In the above-described embodiment, the control unit 51 causes the collection member 49 to perform the removal operation and then the foreign body collection operation, but this is not particularly limited, and the removal operation may be omitted by using the buffer unit 62. Fig. 12 is an explanatory diagram showing an example of a foreign body collection operation in which the collection member 49 is swung by the buffer unit 62. In this foreign body removal device 30, the buffer unit 62 allows the collection member 49 to approach the foreign body 14 while being swung, thereby making it easier to access the foreign body 14 and more reliably removing the foreign body.

[0042] In the above-described embodiment, the buffer 62 includes the guide 64, the biasing member 65, and the air cylinder 66. However, as long as the collection member 49 is configured to be swingable, the present invention is not limited to this, and one or more of the guide 64, the biasing member 65, and the air cylinder 66 may be omitted, or other components may be added. In this foreign body removal device 30, the buffer 62 allows the collection member 49 to approach the foreign body 14 while swinging.

[0043] In the above-described embodiment, the removal unit 40 is provided with the collection member 49 having a shape that narrows toward the tip, but this is not particularly limited, and the removal unit 40 may be provided with a collection member 49 that does not have a tapered shape. This foreign body removal device 30 can also perform the removal operation to more reliably collect the foreign body 14.

[0044] In the above-described embodiment, the foreign matter removal device 30 treats the treatment material 12 as a mixture of waste material 13 to be recycled, such as stone, sand, and concrete, and foreign matter 14, such as paper, resin, wood, and metal, and treats the foreign matter 14 as the target object. However, as long as the target object contained in the treatment material is collected, the treatment material is not limited to the waste material 13 or the foreign matter 14. The treatment agent and the target object may be any object.

[0045] In the above-described embodiment, the present disclosure has been described as a foreign matter removal device 30 equipped with a control device 50, but is not limited to this, and the present disclosure may be the control device 50 itself, a control method for the foreign matter removal device 30 executed by a computer, a program for this control method, or a foreign matter removal method executed by the control device 50, or a program for this control method.

[0046] Here, the present disclosure may be configured as follows: For example, a foreign matter removal device of the present disclosure may include: a detection unit that detects an object transported in a transport direction by a transport device; a removal unit that uses a collection member to grasp foreign matter contained in the target object transported in the transport direction by the transport device; and a control unit that causes the collection member to collect the foreign matter transported on the transport device detected by the detection unit, wherein the removal unit may include a collection head that moves on the transport device, a support unit that is disposed on the collection head and supports the collection member, and a buffer unit that supports the collection member so that the collection member can swing relative to the support unit.

[0047] In this foreign body removal device, the buffer section allows the collection member to approach the foreign body while being swung, making it easier to access the foreign body and more reliably removing it.

[0048] The foreign matter removal method disclosed herein is a foreign matter removal method performed by a foreign matter removal device equipped with a removal unit that uses a collection member to grasp foreign matter contained in an object being transported in a transport direction by a transport device, and includes the steps of: (a) detecting an object being transported in the transport direction by the transport device; and (b) opening the collection member above the foreign matter being transported on the transport device detected in step (a), performing a removal operation to remove any object hanging above the foreign matter, and having the collection member collect the foreign matter.

[0049] In this foreign body removal method, as with the above-described foreign body removal device, the collection member can easily access the foreign body, thereby more reliably collecting the foreign body. Note that this foreign body removal method may employ various aspects of the above-described foreign body removal device, or may include additional steps that realize the respective functions of the above-described foreign body removal device.

[0050] This specification also discloses the technical idea of ​​changing "the foreign matter removal device according to claim 1 or 2" to "the foreign matter removal device according to any one of claims 1 to 4" in claim 5 as originally filed, the technical idea of ​​changing "the foreign matter removal device according to claim 1" to "the foreign matter removal device according to any one of claims 1 to 5" in claim 6 as originally filed, the technical idea of ​​changing "the foreign matter removal device according to claim 1 or 2" to "the foreign matter removal device according to any one of claims 1 to 5" in claim 6 as originally filed, the technical idea of ​​changing "the foreign matter removal device according to claim 6 or 7" to "the foreign matter removal device according to any one of claims 6 to 8" in claim 9 as originally filed, and the technical idea of ​​changing "the foreign matter removal device according to claim 1 or 2" to "the foreign matter removal device according to any one of claims 1 to 9" in claim 10 as originally filed.

[0051] The present disclosure is applicable to technical fields such as recycling of industrial waste.

[0052] 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 Foreign matter removal device, 31 Detection unit, 32 Detection section, 33 Detection section, 36 Disposal section, 40 Removal section, 41 X-axis slider, 43 Y-axis slider, 45 Collection section, 46 Lifting section, 48 Collection head, 49 Collection member, 50 Control device, 51 Control section, 52 Memory section, 61 Support section, 62 Buffer section, 63 Mounting section, 64 Guide section, 65 Pressurizing member, 66 Air cylinder, 67 Fixing section, 68 Base section, 69 Grip claws, 71 Captured image, 72 Captured image, D Conveying direction, Ha average height, Hm maximum height, Hu foreign object height, M operator, P collection direction, Po open position, Pc closed position, W1 to W2 width.

Claims

1. A foreign matter removal device comprising: a detection unit that detects an object being transported in a transport direction by a transport device; a removal unit that grasps a foreign matter contained in the object being transported in the transport direction by the transport device with a collection member; and a control unit that executes a removal operation to open the collection member above the foreign matter being transported on the transport device detected by the detection unit and remove any object hanging above the foreign matter, thereby causing the collection member to collect the foreign matter.

2. The foreign matter removal device according to claim 1, wherein the control unit executes the removal operation while lowering the collection member toward the foreign matter.

3. A foreign matter removal device as claimed in claim 1 or 2, comprising a detection unit that detects the height of an object being transported in the transport direction by a transport device, and the control unit initiates the opening of the collection member based on the height value of an object present around the foreign matter detected by the detection unit.

4. A foreign body removal device as described in claim 3, wherein the control unit, after starting to open the collection member, starts to close the collection member based on the height value of objects present around the foreign body detected by the detection unit and / or the height value of the foreign body.

5. The foreign matter removal device according to claim 1 or 2, wherein the control unit executes the removal operation when the detection unit detects that another object is located above the foreign matter.

6. A foreign matter removal device as described in claim 1, wherein the removal section comprises a sampling head that moves on the conveying device, a support section arranged on the sampling head and supporting the sampling member, and a buffer section that supports the sampling member so that it can swing relative to the support section.

7. A foreign matter removal device comprising: a detection unit that detects an object being transported in a transport direction by a transport device; a removal unit that grasps foreign matter contained in the object being transported in the transport direction by the transport device with a collection member; and a control unit that causes the collection member to collect the foreign matter transported on the transport device detected by the detection unit, wherein the removal unit comprises a collection head that moves on the transport device, a support unit disposed on the collection head that supports the collection member, and a buffer unit that supports the collection member so that it can swing relative to the support unit.

8. A foreign body removal device as described in claim 6 or 7, wherein the buffer section comprises: a guide section that at least guides the attachment section to which the collection member is attached in the collection direction in which the collection member moves when collecting the object; and a biasing member that biases the attachment section in the collection direction along the guide section.

9. A foreign body removal device as described in claim 6 or 7, wherein the removal unit is provided with a fixing unit which fixes the oscillation of the buffer unit, and the control unit performs the removal operation with the buffer unit fixed by the fixing unit, and then releases the fixing unit to cause the collection member to collect the foreign body in a state in which the collection member can oscillate.

10. A foreign body removal device as described in claim 1 or 2, wherein the removal section is provided with the collection member having a shape that narrows toward the tip.

11. A foreign matter removal method performed by a foreign matter removal device equipped with a removal section that grasps a foreign matter contained in an object transported in a transport direction by a transport device with a collection member, the foreign matter removal method including the steps of: (a) detecting an object transported in the transport direction by the transport device; and (b) opening the collection member above the foreign matter transported on the transport device detected in step (a), thereby performing a removal operation to remove any object hanging above the foreign matter, and having the collection member collect the foreign matter.

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