Collection device and method for controlling collection device

Abstract

A collection device according to the present disclosure comprises: a collection unit that collects, with a collection member, an object included in conveyed objects conveyed in a conveyance direction by a conveyance device; a discharge conveyance unit that is installed at a position at least partially overlapping the conveyance device from above and conveys the object collected by the collection unit in an intersecting direction that intersects the conveyance direction; and a control unit that controls the collection unit.

Description

Collection device and method for controlling collection device

[0001] This specification discloses a collection device and a method for controlling the collection device.

[0002] Conventionally, as a device for collecting objects, for example, a sorting device equipped with a robot that picks up objects has been proposed that includes a main transport conveyor that transports the objects and a sub-transport conveyor that transports the sorted objects outside the machine (see, for example, Patent Document 1). This device is said to use machine learning to enhance the success of selecting and dropping objects.

[0003] Special table 2019-533570 publication

[0004] However, in the device of Patent Document 1, an auxiliary conveyor is arranged next to the main conveyor, and when a robot attempts to place an object on the auxiliary conveyor, the robot's operating range becomes larger, and the size of the robot itself must also be increased accordingly. If there is not much space around the conveyor, this collection device may not be usable, and therefore a more compact device is desired.

[0005] The present disclosure has been made to solve such problems, and its main object is to provide a collection device and a control method for a collection device that can make the device more compact in a predetermined direction.

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

[0007] In other words, the collection device disclosed in this specification comprises a collection unit that uses a collection member to collect objects contained in an object being transported in a transport direction by a transport device, a discharge and transport unit that is arranged in a position that overlaps at least a portion of the transport device above the transport device and transports the objects collected by the collection unit in a cross direction that intersects the transport direction, and a control unit that controls the collection unit.

[0008] In this collection device, the discharge and transport unit is arranged overlapping the transport device, thereby narrowing the movement range of the collection member. Furthermore, because the discharge and transport unit can move the collected object out of the transport path, the movement range of the collection member can be narrowed compared to when the collection member moves the collected object out of the transport path. Therefore, this collection device can be made more compact in a predetermined direction, such as the cross direction.

[0009] In this control method for a collection device, a flap unit that moves the collected object outside the transport path is disposed in the collection device. This allows the movement range of the collection member to be narrower than in a system in which the collection member is moved outside the transport path to discharge the object. This allows the device to be made more compact in a predetermined direction, such as the direction in which the flap unit is disposed. Furthermore, in this collection device, a series of operations between the collection unit and the placement unit allows the collected object to be smoothly moved outside the transport path. Note that this control method for a collection device may employ various aspects of the collection device described above, or may include additional steps that realize each of the functions of the collection device described above.

[0010] 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 collection device 30. An explanatory diagram showing an example of captured images 71, 72 of a detection unit 31. A perspective view showing an example of the schematic configuration of a collection unit 40 and a discharge unit 50. A flowchart showing an example of an object collection processing routine. An explanatory diagram of the operation of the collection unit 40 and the discharge unit 50 in a collection and discharge processing. An explanatory diagram showing an example of a collection device 30B equipped with an alternative discharge unit 50B. An explanatory diagram showing an example of a collection device 30C equipped with an alternative discharge unit 50C. An explanatory diagram showing an example of an alternative collection device 30D. An explanatory diagram showing an example of a collection device 30E equipped with an alternative collection unit 40E. An explanatory diagram showing an example of an alternative collection unit 40F and a discharge unit 50F.

[0011] 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 collection device 30. FIG. 3 is an explanatory diagram showing an example of captured images 71 and 72 captured by the collection device 30 and the detection unit 31. FIG. 4 is a perspective view showing an example of the schematic configuration of a collection section 40 and a discharge section 50. In this embodiment, the left-right direction, the front-rear direction, and the up-down direction are as shown in FIGS. 1 to 4. In this embodiment, the direction in which the treatment material 12 is transported as the transported object is referred to as a transport direction D, and the direction intersecting the transport direction D is referred to as a cross direction C.

[0012] The material to be treated 12 as a transported material to be processed 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 as a target material 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 collection device 30, a secondary crusher 18, a secondary magnetic separator 19, and conveying devices 20 to 25.

[0013] 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 foreign matter 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 material from the material 12 that was not completely removed by the primary magnetic separator 16 and the collecting device 30. In the recycling system 10, for example, the material to be treated 12 may be repeatedly transported multiple times along the transport paths of the primary magnetic separator 16, the screener 17, and the collector 30. The transport devices 20-25 as the transport line are devices that place the material to be treated 12 on a transport surface and transport it along the transport direction D, and are configured as, for example, belt conveyors. The transport devices 20-25 may be configured as devices other than belt conveyors as long as they can transport the material to be treated 12.

[0014] The sampling device 30 is configured as a device for sampling an object, placing the treatment material 12 on the conveying surface of the conveying device 22, conveying the treatment material 12 within the conveying path, and sampling and removing the foreign matter 14 as the object. As shown in FIG. 2 , the sampling device 30 is composed of a detection unit 31, a sampling section 40, a discharge section 50, and a control device 60. The sampling device 30 also includes a storage section 36 outside the conveying path R for storing the object. The conveying device 22 places the treatment material 12 on the conveying surface and transports the treatment material 12 at a predetermined transport speed.

[0015] The detection unit 31 is a device that detects the presence and condition of the waste material 13 and foreign matter 14. The detection unit 31 is disposed 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 22, and a detection unit 33 that detects the height of the treatment material being conveyed by the conveying device 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 60. As shown in FIG. 3 , 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 no treatment material 12 is 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 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 materials on the transport device 22. 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 determines 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 gantry installed to straddle the transport device 22 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 36 ​​is a dust box that serves as a disposal unit for storing foreign objects 14. The storage unit 36 ​​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 objects 14 collected by the collection unit 40 are dropped into the storage unit 36 ​​via the discharge unit 50. The storage unit 36 ​​may have multiple storage containers to separate the foreign objects according to their weight and 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 being transported in the transport direction D by the transport device 22. The sampling unit 40 is configured as a movement mechanism that moves the sampling member 49 in the cross direction C along the X-axis direction and in the transport direction D along the Y-axis direction, for example. The sampling unit 40 is provided downstream of the detection unit 31 in the transport direction D. The sampling unit 40 discards the sampled foreign matter 14 in a storage unit 36 ​​located outside the transport path R of the transport device 22. The sampling unit 40 includes a support arm 41, a cross-movement unit 42, a sampling head 44, a lifting unit 46, and an attachment unit 47.

[0018] As shown in Figures 3 and 4, the support arm unit 41 is provided with an elevator 46 that raises and lowers 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 elevator mechanism having a mounting unit 47 to which the sampling member 49 is attached and an elevator 46 that raises and lowers 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 crosses 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 cross direction C and a drive motor that drives the slider. The guide rail is suspended between support units 35 disposed on both sides of the conveying device 22 along the conveying direction D. The cross-movement unit 42 also includes a drive mechanism that moves the support arm unit 41 along the conveying direction D. This drive mechanism slides a columnar support arm disposed at the rear end of the support arm unit 41 along the conveying direction D. For example, it may include a moving roller that contacts and moves the support arm, and a motor that rotates the moving roller. The cross-movement unit 42 can have a simpler structure than the Y-axis slider (see FIG. 10 , described later). The sampling head 44 is composed of components that move in the X- and Y-axis directions relative to stationary structures such as the support unit 35 and the support member on which the X-axis slider is disposed and suspended across the support unit 35. Here, the sampling head 44 is composed of, for example, the support arm unit 41 and the cross-movement unit 42. The lifting unit 46 is a linear motion mechanism that moves the mounting unit 47, to which the collection member 49 is attached, in the vertical direction. The lifting unit 46 may be a linear motor or a ball screw mechanism. The mounting unit 47 is configured to mount various collection members 49 in a releasable manner.

[0019] The sampling member 49 is a member for sampling an object and may also be configured to grasp the object. The sampling member 49 includes a base and gripping claws. The sampling member 49 grasps and releases the foreign matter 14 by opening and closing the gripping claws to sample and remove it from the processing material 12. The sampling member 49 is moved in the X, Y, and Z directions within a predetermined range of the transport device 22 by the support arm 41, the cross-movement unit 42, and the lifting unit 46. The base is removably fixed to the mounting unit 47 and is a main body that pivots the gripping claws. A gripping drive unit (not shown) is disposed on the base, and the gripping drive unit rotates the gripping claws, opening and closing their tips. The sampling member 49 is mounted to the mounting unit 47 so that the base can rotate 360° around the vertical axis of the mounting unit 47. The gripping claws are a pair of members that grasp an object.

[0020] The discharge unit 50 is a unit that moves the foreign matter 14, which is the object collected by the collection unit 40, out of the transport path R. The discharge unit 50 includes a discharge / transport unit 51, a placement unit 52, a flap unit 53, a placement / movement unit 54, and an inclined unit 55. The discharge / transport unit 51 is disposed above the transport device 22 in a position where it overlaps at least a portion thereof, and transports the object collected by the collection unit 40 in a cross direction C that intersects with the transport direction D. The discharge / transport unit 51 may be, for example, a belt conveyor. As shown in FIG. 2 , the discharge / transport unit 51 is provided with guides 56 on both side surfaces along the cross direction C to prevent the object from falling. The placement unit 52 is disposed on the flap unit 53 and is a placement table on which the object is placed. The placement unit 52 may be, for example, a rectangular plate-shaped member whose longitudinal direction is the cross direction C. The placement unit 52 is disposed on the flap unit 53 so as to be slidable along the conveying direction D. The placement unit 52 moves between a close position where it is close to the discharge conveying unit 51 (see solid lines in FIGS. 2 to 4 ) and a separate position where it is separated from the discharge conveying unit 51 (see dotted lines in FIGS. 2 to 4 ). The flap unit 53 has the placement unit 52 on which the object collected by the collection member 49 is placed, and moves the object placed on the placement unit 52 to the discharge conveying unit 51 to move it out of the conveying path R of the conveying device 22. The flap unit 53 may be, for example, a rectangular plate-shaped member with its longitudinal direction aligned with the cross direction C. The flap unit 53 is disposed on the collection unit 40 side of the discharge conveying unit 51. The flap unit 53 moves the placement unit 52 between the collection member 49 side and the discharge conveying unit 51 side, thereby moving the foreign object 14 to the discharge conveying unit 51.

[0021] The placement moving unit 54 is a drive mechanism that moves the placement unit 52 between a separated position on the sampling unit 40 side and a position close to the discharge conveying unit 51 for moving the object out of the conveying path R. The placement moving unit 54 is disposed on the back side of the flap unit 53 and, as shown in FIG. 6 described later, moves the protrusion of the placement unit 52, which is inserted into a groove formed in the flap unit 53 along the conveying direction D, back and forth along the groove. The tilting unit 55 rotates the flap unit 53, on which the placement unit 52 is superimposed, between a horizontal state and an inclined state. As shown in FIG. 6 described later, the tilting unit 55 tilts the placement unit 52 between a horizontal placement position and an inclined inclined position in order to move the object out of the conveying path R. The tilting unit 55 tilts the placement unit 52 from the placement position to the inclined position when the placement unit 52 is close to the discharge conveying unit 51, and then releases the tilt from the inclined position to the placement position. The flap section 53 is pivotally supported so that the placement section 52 can rotate and tilt at a position close to the discharge / conveyance section 51. The tilting section 55 tilts the placement section 52 by pushing up a rotation support section (not shown) fixed to the underside of the flap section 53, and makes the placement section 52 horizontal by releasing this pushing up.

[0022] The control device 60 controls the entire collection 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, the collection unit 40, and the discharge unit 50, and inputs signals from the detection unit 31, the collection unit 40, and the discharge unit 50. The control unit 61 controls the placement movement unit 54 and the tilting unit 55 to, for example, move the collection member 49 that has collected an object to a position where collection of the object is released, move the placement unit 52 from the close position to the far position, cause the collection member 49 to release the collection state of the object, move the placement unit 52 to the close position, and tilt the placement unit 52 to the inclined position. Furthermore, the control unit 61 controls the tilting unit 55 to keep the placement unit 52 in the inclined position during standby when the collection unit 40 is not collecting an object. The control unit 61 rotates the mounting unit 52 from the inclined position to the mounting position and releases the tilt at any timing before or after the target object is collected by the collection unit 40. The memory unit 62 is a storage medium for storing information and is configured, for example, with an HDD or flash memory. The memory unit 62 stores information used when collecting and processing the target object.

[0023] Next, the operation of the collection device 30 configured as described above will be described. First, a process for collecting and removing foreign matter 14 as a target from the material to be processed 12 to produce waste material 13 will be described. Here, the foreign matter removal process for removing foreign matter 14 from the material to be processed 12 will be described as an example of a process for collecting a target. In the collection 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 needed, rather than constantly. Figure 5 is a flowchart showing an example of a routine for collecting a target 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 collection device 30 is started.

[0024] When this routine starts, the control unit 61 first drives the conveying device 22 (S100) and acquires an image of the conveying path R and a detected height value from the detection unit 31 (S110). Next, the control unit 61 determines whether it is time to detect an object (S120). This object detection timing may be, for example, when the detection unit 32 captures all of the processing material 12 being conveyed by the conveying device 22 in a continuous still image, and when that still image transitions to the next image. Note that if the detection unit 32 captures a video, the detection timing may be when a certain period of time has elapsed since the capture of the still image. 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.

[0025] When it is time to detect an object in S120, 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 object 14 as the object using the captured image and the height value (S130). The control unit 61 may, for example, perform a process of detecting an area of ​​the treatment material 12 that has a brightness different 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 61 may also determine the area of ​​the treatment material 12 from the acquired height of the conveying surface. Furthermore, the control unit 61 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 that has a brightness value different from that of the waste material 13 (see FIG. 3 ).

[0026] 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 22 (S140). If a foreign object 14 is present in the transport device 22, the control unit 61 determines whether or not a collection start timing for collecting the foreign object 14 has arrived (S150). If the collection start timing has not arrived, the control unit 61 remains in standby. The collection start timing may be set to a timing that predates the time required for the collection member 49 to move directly above the foreign object 14 and collect the foreign object 14, calculated based on the collection position of the foreign object 14 moving along the transport direction D and the travel distance of the collection member 49. On the other hand, if the collection start timing has arrived, the control unit 61 executes a collection and discharge process for the target object (S160 to S230). Regarding the collection and discharge process, the operation of the collection unit 40 and discharge unit 50 will be explained below, but the operation timing may be such that multiple units operate in the chronological order of the flowchart, or may operate simultaneously in parallel, or the order of operations may be reversed, as long as it is possible to prevent improper contact between the collection unit 40, foreign matter 14, and discharge unit 50.

[0027] 6A is a diagram illustrating the movement of the collection unit 40 and the discharge unit 50 in the collection and discharge process of the object, in which Fig. 6A is a diagram illustrating the movement of the collection member 49 onto the movement path of the foreign object 14, Fig. 6B is a diagram illustrating the collection of the foreign object 14 and the movement of the mounting unit 52 to the mounting position, Fig. 6C is a diagram illustrating the movement of the mounting unit 52 to the separated position and the release of collection of the foreign object 14 at the collection release position, Fig. 6D is a diagram illustrating the movement of the mounting unit 52 to the close position and the retraction of the collection member 49, Fig. 6E is a diagram illustrating the rotation of the mounting unit 52 to an inclined position, and Fig. 6F is a diagram illustrating the discharge and transport unit 51 discharging the foreign object 14 from the transport path R. In the collection and discharge process of the object, specifically, the control unit 61 moves the support arm unit 41 along the intersecting direction C to move the foreign object 14 to the collection position where it will be collected, and causes the collection member 49 to wait on the movement path of the foreign object 14 (S160, Fig. 6A). Next, the control unit 61 lowers the collection member 49 to collect the target object at the collection position, and then raises the collection member 49 to the collection release position (S170, FIG. 6B ). The collection release position may be, for example, above the central region of the mounting unit 52 that is in the separated position slid relative to the flap unit 53.

[0028] Next, the control unit 61 rotates the flap unit 53 from the inclined position in the standby state to the horizontal placement position (S180, FIG. 6B) and moves the placement unit 52 from the close position to the separated position (S190, FIG. 6C). Next, the control unit 61 causes the collection member 49 to execute a release command to release the object (FIG. 6C) and moves the collection member 49 to the next position (S200, FIG. 6D, E). Subsequently, the control unit 61 moves the placement unit 52 from the separated position to the close position (S210, FIG. 6D), tilts the flap unit 53 from the placement position to the inclined position, and moves the object to the discharge conveyance unit 51 (S220, FIG. 6E). The control unit 61 then causes the discharge conveyance unit 51 to move the object out of the conveyance path R (S230, FIG. 6F). The collection unit 40 and the discharge unit 50 perform these operations to move the target foreign matter 14 to the storage unit 36 ​​located outside the transport path R. In this way, the collection device 30 uses the discharge transport unit 51 and the flap unit 53 to transport the target foreign matter 14 out of the transport path R.

[0029] After S230, or when it is not the timing to detect an object in S120, or when there is no object in S140, the control unit 61 determines whether the recycling process of the treatment material 12 has been completed (S240). 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 S240, the control unit 61 stops the transport device 22 (S250) and ends this routine.

[0030] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The collection device 30 of this embodiment corresponds to an example of a collection device of the present disclosure, the collection unit 40 corresponds to an example of a collection unit, the control unit 61 corresponds to an example of a control unit, the discharge and conveyance unit 51 corresponds to an example of a discharge and conveyance unit, the placement unit 52 corresponds to an example of a placement unit, the flap unit 53 corresponds to an example of a flap unit, the placement movement unit 54 corresponds to an example of a placement movement unit, and the inclined unit 55 corresponds to an example of an inclined unit. Also, the collection member 49 corresponds to an example of a collection member, the support arm unit 41 corresponds to an example of a support arm unit, and the crossing movement unit 42 corresponds to an example of a crossing movement unit. Also, the conveyance device 22 corresponds to an example of a conveyance device, the foreign matter 14 corresponds to an example of an object, the processing material 12 corresponds to an example of a conveyed object, the conveyance path R corresponds to an example of a conveyance path, the conveyance direction D corresponds to an example of a conveyance direction, and the crossing direction C corresponds to an example of a crossing direction. In this embodiment, the operation of the collection device 30 is described, and an example of a control method and collection method for the collection device of the present disclosure is also clarified.

[0031] The collection device 30 described above includes a collection unit 40 that uses a collection member 49 to collect foreign matter 14 as a target contained in a treatment material 12 as a transported object transported along the transport direction D by the transport device 22; a discharge conveying unit 51 that is disposed above the transport device 22 in a position at least partially overlapping the transport device 22 and conveys the target collected by the collection unit 40 in a cross direction C that intersects the transport direction D; and a control unit 61 that controls the collection unit 40. In this collection device 30, because the discharge conveying unit 51 is disposed overlapping the transport device 22, the movement range of the collection member 49 can be narrowed. Furthermore, because the discharge conveying unit 51 can move the collected target outside the transport path R, the movement range of the collection member 49 can be narrowed compared to when the collection member 49 moves the target outside the transport path R. Therefore, this collection device 30 can be made more compact in a predetermined direction, such as the cross direction C. For example, in a collection device that collects an object, the storage section 36 can be arranged on both sides of the transport device 22, but there may not be enough space to install the collection device 30. This collection device 30 is compact in the cross direction C, so it can be installed in such a location.

[0032] The collection device 30 may also include a flap unit disposed on the collection unit 40 side of the discharge / transport unit 51, which has a mounting portion on which the object collected by the collection member is placed and which moves the object placed on the mounting portion to the discharge / transport unit to move the object out of the transport path of the transport device. In this collection device, the flap unit having the mounting portion is disposed on the collection unit side of the discharge / transport unit, thereby narrowing the range of movement of the collection member and enabling the device to be more compact in a predetermined direction, such as the transport direction. Furthermore, the flap unit 53 has an inclined portion 55 that tilts the mounting portion 52 from the mounting position to an inclined position to move the object out of the transport path R. In this collection device 30, tilting the flap unit 53 makes it easier to move the collected object out of the transport path R, for example, onto the discharge / transport unit 51. Furthermore, the flap unit 53 has a mounting / transport unit 54 that moves the mounting portion 52 between a separated position on the collection unit 40 side and a close position for moving the object out of the transport path R. In this collection device 30, the mounting portion 52 can be moved to a spaced position on the collection portion 40 side, thereby narrowing the range of movement of the collection member 49 and thereby making the collection portion 40 more compact.

[0033] Furthermore, the control unit 61 controls the mounting movement unit 54 and the tilting unit 55 to move the collection member 49 that has collected the object to a position for canceling collection of the object, move the mounting unit 52 from the close position to the far position, cause the collection member 49 to release the collection state of the object, move the mounting unit 52 to the close position, and tilt the mounting unit 52 together with the flap unit 53 to the inclined position. In this collection device 30, a series of operations of the collection unit 40 and the mounting unit 52 allows the collected object to be smoothly moved out of the transport path R. Furthermore, the control unit 61 controls the tilting unit 55 so that the flap unit 53 causes the mounting unit 52 to wait in the inclined position when the collection unit 40 is waiting and not collecting an object. In this collection device 30, by having the mounting unit 52 wait in the inclined position, contact between the mounting unit 52 and the collection member 49 or the foreign matter 14 collected by the collection member 49 can be prevented, thereby further shortening the distance between the mounting unit and the collection unit, thereby making the device more compact. Furthermore, the control unit 61 rotates the mounting unit 52 and the flap unit 53 from the inclined position to the collection position and releases the tilt at any time before or after the collection unit 40 collects the target object. In this collection device 30, the collection unit 40 can perform work in the collection position.

[0034] The sampling unit 40 is provided with an elevator 46 that raises and lowers the sampling member 49, a support arm 41 that can move the sampling member 49 along the conveying direction D, and a cross-movement unit 42 that supports one end of the support arm 41 and moves the sampling member 49 along the conveying direction D and in a cross-direction C that crosses the conveying direction D. In the sampling device 30, the support arm 41 moves along the conveying direction D, and this structure narrows the range of movement in the conveying direction D, making it easier to support the support arm 41 and simplifying the support structure, ultimately resulting in a more compact device. Furthermore, the sampling unit 40 uses the sampling member 49 to sample and remove foreign matter 14, which is a target object contained in the transported material transported in the conveying direction D by the transport device 22. The sampling device 30 can be used as a foreign matter removal device that removes foreign matter 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 above-described embodiment, the discharge unit 50 includes a mounting portion 52 and a flap portion 53. However, this is not limited thereto, and the mounting portion 52 and the flap portion 53 may be omitted. FIG. 7 is an explanatory diagram showing an example of a collection device 30B including a different discharge unit 50B. As shown in FIG. 7, the collection device 30B includes a discharge unit 50B that does not include the mounting portion 52 and the flap portion 53. This collection device 30B can also transport objects in the cross direction C, thereby enabling the device to be made more compact in a predetermined direction, such as the cross direction C. Note that, in this collection device 30B, as shown by the dashed dotted line in FIG. 7, the support arm portion 41 needs to be extended farther, and therefore further improvements, such as increasing the extension and strength of the support arm, are necessary. For this reason, it is preferable that the collection device 30 include a mounting portion 52 and a flap portion 53.

[0037] In the above-described embodiment, the discharge unit 50 includes the discharge conveying unit 51. However, this is not limited thereto, and the discharge conveying unit 51 may be omitted. FIG. 8 is an explanatory diagram showing an example of a collection device 30C including a different discharge unit 50C. As shown in FIG. 8, the collection device 30C includes a discharge unit 50C that does not include the discharge conveying unit 51. This discharge unit 50C is disposed to the side of the conveying device 22 and includes, for example, a placement unit 52, a flap unit 53, a placement movement unit 54, and an inclined unit 55, similar to the discharge unit 50 described above. The flap unit 53 is disposed on a support unit 35 disposed to the side of the conveying path R of the conveying device 22 along the conveying direction D. The flap unit 53 is a plate-like member that is inclined with its longitudinal direction along the conveying direction D and its free end facing the conveying path R. The placement unit 52 is disposed on the flap unit 53 so as to be slidable along the transverse direction C relative to the flap unit 53. In this collection device 30C as well, the object can be moved to the outside of the transport path R, so that the device can be made compact in a predetermined direction such as the cross direction C.

[0038] In the above-described embodiment, the discharge unit 50 is disposed downstream of the collection unit 40 along the conveying direction D. However, this is not limited thereto, and the discharge unit 50 may be disposed upstream of the collection unit 40. FIG. 9 is an explanatory diagram showing an example of a collection device 30D including a different collection unit 40D and discharge unit 50D. As shown in FIG. 9, the collection device 30D includes the discharge unit 50D immediately downstream of the detection unit 31, and the collection unit 40D immediately downstream of the discharge unit 50D. The discharge unit 50D includes a discharge conveying unit 51 disposed upstream, and a placement unit 52 and a flap unit 53 disposed downstream of the discharge conveying unit 51. The discharge unit 50D includes the discharge conveying unit 51, placement unit 52, flap unit 53, placement movement unit 54, and inclined unit 55, which are similar to the discharge unit 50, except that the arrangement direction of each component along the conveying direction D is opposite to that of the discharge unit 50. Furthermore, the collection unit 40D includes a discharge transport unit 51, a placement unit 52, a flap unit 53, a placement movement unit 54, and an inclined unit 55, which are similar to the discharge unit 50, except that the arrangement direction of each component along the transport direction D is opposite to that of the discharge unit 50. In this collection device 30D, the discharge unit 50D can also move the object to the outside of the transport path R, thereby making it possible to make the device more compact in a predetermined direction such as the cross direction C.

[0039] In the above-described embodiment, the flap portion 53 slides the mounting portion 52 between the close position and the separated position. However, this is not particularly limited, and the mounting portion 52 may be disposed on the flap portion 53 so as not to slide. In this case, the ejection portion 50 may omit the mounting movement portion 54. In this ejection portion 50, the movement distance of the collection member 49 increases, but the configuration of the ejection portion 50 can be simplified. Furthermore, in the above-described collection device 30, the flap portion 53 uses the inclined portion 55 to make the mounting portion 52 horizontal in the mounting position and inclined in the inclined position. However, the inclination of the flap portion 53 may be omitted. In this case, the ejection portion 50 may omit the inclined portion 55. In this ejection portion 50, it is difficult to prevent contact between the respective components, but the configuration of the ejection portion 50 can be simplified.

[0040] 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 configuration and may be an X-Y robot. FIG. 10 is an explanatory diagram showing an example of a collection device 30E equipped with a different collection unit 40E. The collection device 30E includes a collection unit 40E and a discharge unit 50. The collection unit 40E includes an X-axis slider 42E, a Y-axis slider 43, a collection head 44, and an elevator unit 46. The X-axis slider 42E is a drive mechanism including a guide rail installed along a cross direction C 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 the slider of a Y-axis slider 43 installed on the conveying device 22 along the conveying direction D. A sampling head 44 having an elevator unit 46 is fixed to the slider of the X-axis slider 42E. 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 member installed on the conveying device 22 along the conveying direction D. The X-axis slider 42E is arranged 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 22 by the X-axis slider 42E, Y-axis slider 43, and elevator unit 46. The discharge unit 50 includes a discharge conveying unit 51, a placing unit 52, a flap unit 53, a placing moving unit 54, and an inclined unit 55. These are similar to those included in the collecting device 30, and detailed description thereof will be omitted. In this type of collection device 30E, too, it is possible to make the device compact in a predetermined direction, such as the cross direction C, for example.

[0041] In the above-described embodiment, the discharge conveying unit 51 of the discharge unit 50 is disposed downstream of the sampling unit 40 along the transport direction D. However, this is not limited thereto, and as shown in FIG. 11 , the discharge conveying unit 51 may be disposed upstream of the sampling position of the target object by the sampling member 49 along the transport direction D. FIG. 11 is an explanatory diagram showing an example of another sampling unit 40F and discharge unit 50F, where FIG. 11A is a perspective view of the sampling unit 40F and FIG. 11B is an explanatory diagram showing the movement of the support arm 41. In this sampling unit 40F, as shown in FIG. 11 , the discharge conveying unit 51 is disposed upstream of the sampling position where the sampling member 49 samples the target object along the transport direction D. In this sampling unit 40F, the movement distance of the sampling member 49 can be shortened compared to a sampling unit in which the sampling member 49 moves downstream along the transport direction D, thereby enabling the device to be more compact along the transport direction D. Furthermore, the conveying device 22 is arranged so that the conveyed object rises along the conveying direction D, and the sampling unit 40F is arranged horizontally so that the sampling member 49 rises and falls in a direction perpendicular to the horizontal direction. This discharge unit 50F may not include a flap unit 53 or a mounting unit 52. When the conveying device 22 is arranged on an upward slope, if the discharge conveying unit 51 is arranged downstream in the conveying direction D, interference between the conveyed object and the discharge conveying unit 51 becomes a problem. However, by arranging the discharge conveying unit 51 upstream in this sampling unit 40F, this interference can be prevented while further reducing the device's size. The installation angle θ of the conveying device 22 is preferably within an angle range that allows stable conveyance of the conveyed object, and may be, for example, between 0 and 20°. Furthermore, in this sampling unit 40F, since the sampling unit 40F is maintained horizontally, it is easier to collect the target object compared to, for example, a sampling unit 40F arranged at an angle and the sampling member 49 is raised and lowered while tilted. Furthermore, the control unit 61 may control the collection unit 40 to move the collection member 49 toward the conveying device 22 in a direction vertical to the horizontal direction for the object being conveyed in the conveying direction D to collect the object, and then release the object from collection on the discharge conveying unit 51.In this collection unit 40F, the collection member 49 is moved vertically when collecting the object. This allows for a narrower range of movement of the collection member 49 along the transport direction D than in a collection unit that follows the object along the transport direction D, thereby enabling a more compact device. The control unit 61 may control the collection unit 40F to have the collection member 49 wait above the line along which the object passes, and to lower the collection member 49 in accordance with the timing at which the object reaches the collection position based on the transport speed of the transport device 22, thereby collecting the object at the collection position. In this collection unit 40F, the collection member 49 waits above the line along which the object passes and is raised and lowered, allowing for more efficient collection of the object. Furthermore, the control unit 61 may also move the collection member 49, which has collected the object, along the transport direction D to the discharge transport unit 51. In this collection unit 40F, the object can be moved to the discharge transport unit 51 over the shortest distance, allowing for more efficient release of the object. 10, the collection device 30E may also be configured such that the discharge transport unit 51 is located upstream of the collection position, similar to the collection unit 40F. In addition, in the collection devices 30, 30B to 30E described above, the collection member 49 may follow the object along the transport direction D to collect the object, or this following operation may be omitted and the collection member 49 may be raised and lowered in a direction perpendicular to the horizontal direction to collect the object.

[0042] In the above-described embodiment, the collecting device 30 is a foreign matter removal device that serves as a waste material processing device that processes the foreign matter 14 as a target object, using 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, as the transported treatment material 12. However, as long as the target object contained in the transported object is collected, it is not limited to the waste material 13 and the foreign matter 14. The treatment agent and the target object can be any object.

[0043] In the above-described embodiment, the present disclosure has been described as a collection device 30 equipped with a control device 60, but is not limited to this, and the present disclosure may be the control device 60 itself, a control method for the collection device 30 executed by a computer, a program for this control method, or a collection method executed by the control device 60, or a program for this control method.

[0044] Here, the present disclosure may be configured as follows: For example, the collection device of the present disclosure may include a collection unit that collects an object contained in an object being transported in a transport direction by a transport device using a collection member, a flap unit that has a placement unit on which the object collected by the collection unit is placed and that moves the object placed on the placement unit out of the transport path of the transport device, and a control unit that controls the collection unit.

[0045] This collection device has a mounting portion and a flap portion that moves the collected object out of the transport path. This allows the collection member to move within a narrower range than a device that moves the collection member out of the transport path to discharge the object. This allows the device to be more compact in a predetermined direction, such as the direction in which the flap portion is disposed. The flap portion may be disposed to the side of the transport path along the transport direction. The flap portion facilitates the movement of the collected object out of the transport path.

[0046] The control method for a collection device disclosed herein includes a collection unit that uses a collection member to collect an object contained in an object being transported in a transport direction by a transport device, and a flap unit that has a loading section on which the object collected by the collection unit is placed and moves the object placed on the loading section out of the transport path of the transport device, wherein the flap unit has a loading movement section that moves the loading section between a separated position on the collection unit side and a close position for moving the object out of the transport path, and a tilting section that tilts the loading section from the loading position to an inclined position at the close position, and includes the steps of: moving the collection member that has collected the object to a collection release position for the object, moving the loading section from the close position to the separated position, causing the collection member to release the collection of the object, and controlling the loading movement section and the tilting section to move the loading section to the close position and tilt the loading section to the inclined position.

[0047] In this control method for a collection device, a flap unit that moves the collected object outside the transport path is disposed in the collection device. This allows the movement range of the collection member to be narrower than in a system in which the collection member is moved outside the transport path to discharge the object. This allows the device to be made more compact in a predetermined direction, such as the direction in which the flap unit is disposed. Furthermore, in this collection device, a series of operations between the collection unit and the placement unit allows the collected object to be smoothly moved outside the transport path. Note that this control method for a collection device may employ various aspects of the collection device described above, or may include additional steps that realize each of the functions of the collection device described above.

[0048] This specification also discloses the technical idea of ​​changing "the collection device according to claim 2 or 3" to "the collection device according to any one of claims 2 to 4" in claim 5 as originally filed, the technical idea of ​​changing "the collection device according to claim 5" to "the collection device according to claim 5 or 6" in claim 7 as originally filed, the technical idea of ​​changing "the collection device according to claim 1" to "the collection device according to any one of claims 1 to 7" in claim 8 as originally filed, the technical idea of ​​changing "the collection device according to claim 8" to "the collection device according to any one of claims 1 to 8" in claim 9 as originally filed, the technical idea of ​​changing "the collection device according to claim 8 or 9" to "the collection device according to any one of claims 1 to 9" in claim 10 as originally filed, and the technical idea of ​​changing "the collection device according to claim 1 or 2" to "the collection device according to any one of claims 1 to 10" in claim 11 as originally filed.

[0049] The present disclosure is applicable to technical fields such as recycling of industrial waste.

[0050] 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-30E Sampling device, 31 Detection unit, 32 Detection section, 33 Detection section, 35 Support section, 36 Storage section, 40, 40D, 40E, 40F Sampling section, 41 Support arm section, 42 Cross movement section, 42E X-axis slider, 43 Y-axis slider, 44 Sampling head, 46 Lifting section, 47 Mounting section, 49 Sampling member, 50, 50B-50D, 50F Discharge section, 51 Discharge conveying section, 52 Placement section, 53 Flap section, 54 Placement movement section, 55 Inclined portion, 56 Guide, 60 Control device, 61 Control section, 62 Storage section, 71 Captured image, 72 Captured image, C Intersecting direction, D Conveying direction, M Worker, R Conveying path, θ Arrangement angle.

Claims

1. A collection device comprising: a collection unit that uses a collection member to collect an object contained in an object being transported in a transport direction by a transport device; a discharge and transport unit that is arranged above the transport device in a position that overlaps at least a portion of the transport device and transports the object collected by the collection unit in a direction that intersects the transport direction; and a control unit that controls the collection unit.

2. A collection device as described in claim 1, which is arranged on the collection section side of the discharge and transport section, has a loading section on which the object collected by the collection member is placed, and is equipped with a flap section which moves the object placed on the loading section to the discharge and transport section to move it out of the transport path of the transport device.

3. A collection device comprising: a collection unit that uses a collection member to collect an object contained in an object being transported in a transport direction by a transport device; a flap unit that has a placement unit on which the object collected by the collection unit is placed and that moves the object placed on the placement unit out of the transport path of the transport device; and a control unit that controls the collection unit.

4. A collection device as described in claim 2 or 3, wherein the flap portion has an inclined portion that inclines the placement portion from the placement position to an inclined position in order to move the object out of the transport path.

5. A collection device as described in claim 2 or 3, wherein the flap portion has a loading / moving portion that moves the placement portion between a separated position on the collection portion side and a close position for moving the object out of the transport path, and an inclination portion that inclines the placement portion from the loading position to an inclined position at the close position.

6. The collection device described in claim 5, wherein the control unit controls the placement movement unit and the tilting unit to move the collection member that has collected the object to a position where collection of the object is released, move the placement unit from the close position to the separated position, cause the collection member to release the collection state of the object, move the placement unit to the close position, and tilt the placement unit to the inclined position.

7. The collection device described in claim 5, wherein the control unit controls the tilting unit to make the placement unit wait in the tilted position when the collection unit is waiting and not collecting the object.

8. The collection device of claim 1, wherein the collection unit comprises a support arm unit having a lifting unit for raising and lowering the collection member and capable of moving the collection member along the conveying direction, and a cross-movement unit for supporting the support arm unit at one end, moving the collection member along the conveying direction, and moving the support arm unit in a cross direction that intersects the conveying direction.

9. The collection device according to claim 8, wherein the discharge and transport section is disposed upstream in the transport direction from a collection position where the collection member collects the object.

10. A collection device as described in claim 8 or 9, wherein the conveying device is arranged so that the transported object rises along the conveying direction, and the collection section is arranged horizontally so that the collection member rises and falls along a direction perpendicular to the horizontal direction.

11. A collection device according to claim 1 or 2, wherein the collection section collects and removes foreign matter as the target contained in the target transported in the transport direction by the transport device using a collection member.

12. A control method for a collection device comprising: a collection unit that uses a collection member to collect an object contained in an object being transported in a transport direction by a transport device; and a flap unit having a loading section on which the object collected by the collection unit is placed and that moves the object placed on the loading section out of the transport path of the transport device, wherein the flap unit has a loading / moving section that moves the loading section between a separated position on the collection unit side and a close position for moving the object out of the transport path, and a tilting section that tilts the loading section from the loading position to an inclined position at the close position, the control method for a collection device comprising the steps of: moving the collection member that has collected the object to a collection release position for the object, moving the loading section from the close position to the separated position, causing the collection member to release the collection of the object, and controlling the loading / moving section and the tilting section to move the loading section to the close position and tilt the loading section to the inclined position.

Images