Gantry Robotic Cleaner for Sorting Equipment
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Solution Overview
Problem
Current solid waste separation equipment faces significant maintenance challenges due to wrapping hazards like ropes and plastic film, which cause jamming and reduce efficiency, requiring frequent manual cleaning and posing safety hazards.
Innovation Solution
A robotic cleaner system with a gantry positioning system and cutter/picker mechanism that automatically detects and removes wrapping materials from disc screens and trommels, using sensors and various cutting tools to dislodge and remove debris without shutting down the system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual cleaning is performed on disc screens, then wrapping materials can be removed, but the system must be shut down and safety hazards increase
Solution Approach 1:
The robotic cleaning system performs cleaning operations autonomously without requiring human operators to enter confined spaces or shut down the system. The robot navigates independently, detects wrapping materials using sensors, and removes them using cutting tools, thereby eliminating safety hazards associated with manual cleaning while maintaining cleaning effectiveness
Solution Approach 2:
The robotic system acts as an intermediary between the wrapping materials and the cleaning process. Instead of human operators directly handling the hazardous wrapping materials, the robot serves as a mediator that can safely approach, detect, and remove the materials using specialized tools while humans remain at a safe distance
2Reliability
If manual cleaning is performed on disc screens, then wrapping materials can be removed, but system downtime increases
Solution Approach 1:
The robotic cleaning system enables continuous operation of the disc screen by performing cleaning operations without requiring system shutdown. The robot can clean the rotating disc screen while it continues to operate, thereby eliminating downtime and maintaining continuous material processing while still achieving effective removal of wrapping materials
3Loss of time
If robotic cleaner operates while system runs, then downtime is reduced, but cleaning precision may be affected
Solution Approach 1:
The robotic cleaning system is designed to adapt to the dynamic operating conditions of the running disc screen. The robot uses active feedback from sensors to continuously adjust its position and cutting depth in real-time, compensating for the motion and vibrations of the operating system, thereby maintaining cleaning precision despite the dynamic environment
Solution Approach 2:
The system incorporates sensors that provide real-time feedback on the robot's position, the disc screen's rotation, and the location of wrapping materials. This feedback loop enables the robotic controller to continuously adjust cleaning parameters and maintain precise cutting performance while the system operates, resolving the contradiction between continuous operation and cleaning precision
Data Source
AI summary
A self-cleaning apparatus for sorting a mixture of materials is disclosed that comprises a material sorter and a gantry positioning system elevated above the material sorter. The gantry positioning system includes a longitudinal travel rail with a longitudinal travel rail carriage, a traverse travel rail with a transverse travel rail carriage connected to the longitudinal travel rail carriage running perpendicular to the longitudinal travel rail, and a vertical travel rail connected to the vertical travel rail carriage running perpendicular to the traverse travel rail. A cutter and, optionally, a picker, are connected to the vertical travel rail. The gantry positioning system can move the cutter and picker various directions to dislodge and remove material that may have accumulated on the sorter. Instead of a gantry positioning system, the apparatus may have a multi-axis arm.