EP0439674A2 - Device for sorting waste - Google Patents

Device for sorting waste Download PDF

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Publication number
EP0439674A2
EP0439674A2 EP90117089A EP90117089A EP0439674A2 EP 0439674 A2 EP0439674 A2 EP 0439674A2 EP 90117089 A EP90117089 A EP 90117089A EP 90117089 A EP90117089 A EP 90117089A EP 0439674 A2 EP0439674 A2 EP 0439674A2
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EP
European Patent Office
Prior art keywords
conveyor belt
waste
sensor
gripping
sensors
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP90117089A
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German (de)
French (fr)
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EP0439674A3 (en
EP0439674B1 (en
Inventor
Gustav Edelhoff
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Edelhoff Polytechnik GmbH and Co
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Edelhoff Polytechnik GmbH and Co
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Priority to AT90117089T priority Critical patent/ATE104178T1/en
Publication of EP0439674A2 publication Critical patent/EP0439674A2/en
Publication of EP0439674A3 publication Critical patent/EP0439674A3/en
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Publication of EP0439674B1 publication Critical patent/EP0439674B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3416—Sorting according to other particular properties according to radiation transmissivity, e.g. for light, x-rays, particle radiation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution

Definitions

  • the invention relates to a device for sorting waste with at least one conveyor belt, above which a magnetic separator is arranged.
  • packaging material e.g. paper, plastic, glass, sheet metal
  • the waste has been separated according to its components by laborious manual work under heavy pollution and odor pollution.
  • the individual waste components are picked up by workers on a conveyor belt (on which the waste was previously spread).
  • a magnetic separator To sort out ferrous metals from the waste, it is also known to arrange a magnetic separator above the conveyor belt.
  • the task is to provide a device for sorting waste that is automated, so that it is not necessary to pick up the individual waste components by hand, which is carried out only with a high level of dirt and odor.
  • At least one sensor extends over the width of the conveyor belt.
  • at least one further conveyor belt is arranged parallel to it, and movable gripping robots are provided between the conveyor belts, which can be moved as a result of signals from the aforementioned at least one sensor.
  • Sensors are provided, which are then coupled to a number of gripping robots corresponding to the number of sensors. If a sensor detects a certain waste component, its position on the conveyor belt is determined and a corresponding computer program is used to calculate when the corresponding point on the conveyor belt is transported in the direction of travel to the point at which the gripping robot can access it.
  • This gripping robot is controlled accordingly by a control program, so that it can pick up the piece of waste located by the sensor from the transport after the previously calculated time delay.
  • the gripping robot is then moved to a conveyor belt running in parallel, on which it can deposit the corresponding piece of waste.
  • several gripping robots can also be provided per conveyor belt for one type of waste.
  • the magnetic separator can consist of a conveyor belt equipped with magnets, which is aligned essentially perpendicular to the running direction of the conveyor belt.
  • ferrous metals can advantageously be continuously discarded.
  • a scraper can be arranged transversely to the conveyor belt of the magnetic separator, below which a collecting container for collecting the ferrous metal waste is set up.
  • the sensors can be capacitive, inductive, ultrasonic, infrared or visual sensors or combinations of these. It is to be coordinated according to the type of waste to be detected, which sensors are best suited for determining the location of the waste the conveyor belt.
  • the gripping robots controlled by the sensor signals can be moved perpendicular to the running direction of the conveyor belts aligned parallel to one another.
  • One sensor can control several gripping robots or several sensors can control one gripping robot.
  • a storage and loading silo can be arranged above the loading point of the conveyor belt.
  • a separation device is preferably arranged below the storage and loading silo.
  • a robot-assisted suction device which can possibly detect undetected small parts and convey them into a separate container, can be connected downstream of the gripping robots.
  • At least one X-ray fluoroscopy sensor can be provided as the sensor.
  • X-ray fluoroscopy sensors of this type are already used, for example, in the screening of luggage at airports.
  • such sensors can be detected particularly advantageously the type of waste and the position of the respective piece of waste on the conveyor belt.
  • at least one vertical or horizontal plate is also arranged, which is provided on one side with at least one X-ray tube and on the other side of the conveyor belt a corresponding image intensifier plate for dubbing contains the captured image on a receiver.
  • the image intensifier plate is provided with a luminous layer which generates a quantum image.
  • the incident cathode beam is amplified via dynodes and forwarded to a receiver for evaluation.
  • the image generated on the image intensifier plate can be recorded with a camera and forwarded accordingly to the receiver.
  • the waste conveyed past on a conveyor belt is illuminated by a stroboscopic X-ray tube. Due to the different brightness and contours of the illuminated material, its density and thus the type of waste can be determined. The center of gravity of the material and the position on the conveyor belt can be determined with the aid of a computer.
  • a first X-ray fluoroscopy sensor for detecting highly radiation-inhibiting waste can be arranged along the conveyor belt, followed by a gripping robot controlled by this to remove the highly radiation-inhibiting waste and another X-ray fluoroscopy sensor in the running direction of the conveyor belt.
  • a storage and feed silo 30 is arranged above the feed point of a conveyor belt 12. This silo is loaded with household waste, for example, which is delivered by refuse collection vehicles.
  • a separating device 32 is arranged below the outlet opening. In the present embodiment, this consists of flat surfaces that extend across the width of the conveyor belt 12.
  • the waste distributed over the width of the conveyor belt is conveyed at the speed v of the conveyor belt in the direction of the arrow.
  • a magnetic separator is arranged behind the separating device 32.
  • This magnetic separator essentially consists of a further conveyor belt 14, which is aligned perpendicular to the direction of travel of the conveyor belt 12.
  • the conveyor belt 14 itself is equipped with magnets so that it picks up corresponding magnetic parts of the waste from the conveyor belt 12 and transports it to a scraper arranged at the end of the conveyor belt 14.
  • the iron metal scrap picked up by the magnetic Stripped conveyor belt 14 and collected in a collecting container 24 arranged below the stripper 22.
  • This collecting container is only shown schematically in the figure and will usually be a replaceable container.
  • sensors 16, 16 ', 16' 'spanning the conveyor belt are provided to the magnetic separator.
  • This example shows three sensors for different waste components.
  • the sensors 16, 16 ', 16' ' which can be designed as capacitive, inductive, ultrasonic, infrared or visual sensors, detect the position of a certain piece of waste made of the corresponding material in the x direction.
  • the conveyor belt can be clocked so that it only passes through the sensors when a certain amount of waste is on the belt.
  • the corresponding gripping robot 20, 20 ', 20''above the conveyor belt 12 on the portal 21, 21', 21 '' is moved into the corresponding x position.
  • the gripping robot 20 grips , 20 ', 20 '' the scrap. This is picked up and placed on the conveyor belt 18, 18 ', 18''assigned to the gripping robot, where it is transported to a collecting container 28, 28', 28 ''.
  • every robot can be assigned to a certain type of waste.
  • a robot it is also possible for a robot to be controlled by several sensors and to operate several parallel conveyor belts.
  • a sensor can also control several robots that deposit the sorted waste on a conveyor belt.
  • the gripping robots 20, 20 ′, 20 ′′ have a single gripping arm.
  • multiple gripping arms can also be provided on the gripping robots 20, 20 ', 20' '.
  • the conveyor belts do not have to be aligned parallel, as shown here.
  • This device can be used, for example, to collect recycled goods such as paper, glass, sheet metal, rubber and organic waste. Material that is not to be recycled remains on the conveyor belt 12 and is collected in the collecting container 26. This non-recyclable waste can be sent to a waste incineration plant, for example.
  • the section of the modified embodiment of the device according to the invention shown in FIG. 2 is connected downstream of the magnetic separator 14 (cf. FIG. 1).
  • a cell-like fluoroscopic sensor 40 is initially arranged, in which the fluoroscopy takes place via the plates 42 and 44.
  • the fluoroscopic sensor 40 can be used, for example, to determine strong radiation inhibitors, such as lead, in a first preselection on the conveyor belt.
  • at least one X-ray tube is installed in one of the two plates 42 or 44. Stroboscopic the waste conveyed past on the conveyor belt 12 is screened.
  • the image intensifier plate which is arranged in the respective opposite plate 42 or 44, forwards the recorded image to a computer, not shown.
  • At least one gripping robot 46 is controlled via this computer in accordance with the signals relating to the position, type and center of gravity of the waste, so that this strongly radiation-inhibiting waste can be picked up by the conveyor belt 12 and stored in a container 48.
  • the waste stream freed from the strong radiation inhibitors in this way is conveyed via the conveyor belt 12 to a further X-ray fluoroscopic sensor 50, which is also provided with two vertically or horizontally arranged plates 52 and 54 with a stroboscopic X-ray tube and a corresponding image intensification.
  • the plate 54 is connected to a receiver 56 via a line.
  • the evaluation of the different brightnesses, which serve as a measure for the density differences and thus for material detection, is carried out via a computer 58.
  • the position on the belt is determined with the aid of the center of gravity determination via the image evaluation.
  • a coordinate data record determined in this way is then passed to the control 60 for the gripping robots 20, 20 ', 20' '.
  • the sorted recyclable waste is then sent for recycling, while the unsorted waste can be disposed of in a waste incineration plant, for example.

Abstract

The invention relates to a device for sorting waste, having at least one conveyor belt above which a magnetic separator is arranged. In order to automate a device of this kind, said device is developed in such a way that at least one sensor (16, 16', 16'') extends over the width of the conveyor belt. At least along part of the length of the conveyor belt (14), at least one further conveyor belt (18, 18', 18'') is optionally arranged parallel to the latter. Between the conveyor belts (12; 18, 18', 18''), movable grasping robots (20, 20', 20'') are provided which can be moved in response to signals from the at least one sensor (16, 16', 16''). By means of this device, recycling materials such as for example paper, glass, sheet metal, rubber and organic waste can be collected in an advantageous manner whilst the waste which is not to be recycled can be collected separately and fed for example to a refuse incineration system.

Description

Die Erfindung betrifft eine Vorrichtung zum Sortieren von Abfällen mit mindestens einem Transportband, oberhalb dessen ein Magnetabscheider angeordnet ist.The invention relates to a device for sorting waste with at least one conveyor belt, above which a magnetic separator is arranged.

Aufgrund der zunehmenden Erkenntnis, daß die Rohstoffvorräte nur in begrenztem Umfang vorhanden sind, hat gerade in den letzten Jahren die Wiederverwertung von recyclingfähigen Abfallprodukten immer mehr an Bedeutung gewonnen. Hierzu wäre es wünschenswert, daß die Abfälle entsprechend ihrer Bestandteile unmittelbar beim Abfallproduzenten, beispielsweise dem jeweiligen Haushalt, sortiert zwischengelagert würden, so daß eine je nach Abfallart eine getrennte Einsammlung der Abfälle ermöglicht würde. Leider hat sich bislang das getrennte Einsammeln der Abfälle unmittelbar beim Abfallerzeuger, beispielsweise dem Haushalt, noch nicht durchsetzen können. Daher muß das Auftrennen der Abfälle nach ihren Bestandteilen von dem Abfallbeseitiger durchgeführt werden.Due to the increasing awareness that the raw material stocks are only available to a limited extent, the recycling of recyclable waste products has become increasingly important in recent years. For this purpose, it would be desirable that the waste, according to its constituents, would be stored temporarily at the waste producer, for example the respective household, so that a separate collection of the waste would be possible depending on the type of waste. Unfortunately, the separate collection of waste directly from the waste producer, for example the household, has not yet been successful. Therefore, the separation of the waste according to its components must be carried out by the waste disposal company.

Während beim Hausmüll früher häufig Asche mit Kohleresten anfiel, besteht dieser heute überwiegend aus Verpackungsmaterial (beispielsweise aus Papier, Kunststoff, Glas, Blech), Küchenabfällen und verbrauchten Konsumgütern. Je nach Müllkomponente sind bestimmte Wiederaufarbeitungs- bzw. Beseitigungsverfahren besonders geeignet. Verpackungsmaterial kann allgemein wieder einem Recycling zugeführt werden oder es kann andererseits auch verbrannt werden. Glas und Metalle eignen sich besonders gut für ein Recycling. Küchenabfälle können der Kompostierung zugeführt werden.While ash with coal residues used to be common in household waste, Today it mainly consists of packaging material (e.g. paper, plastic, glass, sheet metal), kitchen waste and consumed consumer goods. Depending on the waste component, certain reprocessing or disposal processes are particularly suitable. Packaging material can generally be recycled or, on the other hand, it can also be burned. Glass and metals are particularly suitable for recycling. Kitchen waste can be sent to composting.

Eine Trennung der Abfälle nach ihren Bestandteilen erfolgt bislang durch mühsame Handarbeit unter starker Schmutz- und Geruchsbelastung. Dabei werden die einzelnen Abfallkomponenten durch Arbeiter von einem Transportband (auf dem der Abfall zuvor ausgebreitet wurde) geklaubt. Zum Aussortieren von Eisenmetallen aus dem Abfall ist es auch schon bekannt, oberhalb des Transportbandes einen Magnetabscheider anzuordnen.So far, the waste has been separated according to its components by laborious manual work under heavy pollution and odor pollution. The individual waste components are picked up by workers on a conveyor belt (on which the waste was previously spread). To sort out ferrous metals from the waste, it is also known to arrange a magnetic separator above the conveyor belt.

Ausgehend von diesem Stand der Technik stellt sich die Aufgabe, eine Vorrichtung zum Sortieren von Abfällen an die Hand zu geben, die automatisiert ist, so daß sich ein nur unter starker Schmutz- und Geruchsbelastung durchzuführendes Handklauben der einzelnen Abfallbestandteile erübrigt.Proceeding from this prior art, the task is to provide a device for sorting waste that is automated, so that it is not necessary to pick up the individual waste components by hand, which is carried out only with a high level of dirt and odor.

Die Lösung dieser Aufgabe ergibt sich aus dem kennzeichnenden Teil des Patentanspruchs 1. Erfindungsgemäß erstreckt sich über die Breite des Transportbandes mindestens ein Sensor. Entlang zumindestens einer Teillänge des Transportbandes ist parallel zu diesem mindestens ein weiteres Transportband angeordnet und zwischen den Transportbändern sind verfahrbare Greifroboter vorgesehen, die in Folge von Signalen des zuvor genannten mindestens einen Sensors verfahrbar sind. Bei einer derartigen Vorrichtung können für verschiedene Müllkomponenten verschiedene Sensoren vorgesehen werden, die dann mit einer der Anzahl der Sensoren entsprechenden Anzahl von Greifrobotern gekoppelt sind. Erkennt ein Sensor eine bestimmte Müllkomponente, so wird deren Lage auf dem Transportband festgestellt und über ein entsprechendes Rechnerprogramm ausgerechnet, wann die entsprechende Stelle des Transportbandes in Laufrichtung zu dem Punkt weitertransportiert ist, an welchem der Greifroboter zugreifen kann. Dieser Greifroboter wird entsprechend durch ein Steuerprogramm angesteuert, so daß er nach der zuvor ausgerechneten Zeitverzögerung das durch den Sensor geortete Abfallstück vom Transport aufnehmen kann. Anschließend wird der Greifroboter zu einem parallel laufenden Transportband verfahren, auf das er das entsprechende Abfallstück ablegen kann. Damit ist jedem für eine bestimmte Abfallsorte zuständigen Greifroboter ein gesondertes Transportband zugeordnet. Selbstverständlich können pro Transportband für eine Abfallart auch mehrere Greifroboter vorgesehen werden.The solution to this problem results from the characterizing part of patent claim 1. According to the invention, at least one sensor extends over the width of the conveyor belt. Along at least a partial length of the conveyor belt, at least one further conveyor belt is arranged parallel to it, and movable gripping robots are provided between the conveyor belts, which can be moved as a result of signals from the aforementioned at least one sensor. With such a device different for different waste components Sensors are provided, which are then coupled to a number of gripping robots corresponding to the number of sensors. If a sensor detects a certain waste component, its position on the conveyor belt is determined and a corresponding computer program is used to calculate when the corresponding point on the conveyor belt is transported in the direction of travel to the point at which the gripping robot can access it. This gripping robot is controlled accordingly by a control program, so that it can pick up the piece of waste located by the sensor from the transport after the previously calculated time delay. The gripping robot is then moved to a conveyor belt running in parallel, on which it can deposit the corresponding piece of waste. This means that each gripping robot responsible for a specific waste location is assigned a separate conveyor belt. Of course, several gripping robots can also be provided per conveyor belt for one type of waste.

Gem. einer vorteilhaften Ausgestaltung der Erfindung kann der Magnetabscheider aus einem mit Magneten bestückten Transportband bestehen, das im wesentlichen senkrecht zur Laufrichtung des Transportbandes ausgerichtet ist. Hierdurch können in vorteilhafter Weise kontinuierlich Eisenmetalle ausgesondert werden. Quer zum Transportband des Magnetabscheiders kann ein Abstreifer angeordnet sein, unterhalb dessen ein Sammelbehälter zum Auffangen der Eisenmetallabfälle aufgestellt ist. Dadurch können die an den Magneten anhaftenden Eisenbestandteile problemlos von dem kontinuierlich laufenden Transportband gelöst und gleichzeitig aufgesammelt werden.According to an advantageous embodiment of the invention, the magnetic separator can consist of a conveyor belt equipped with magnets, which is aligned essentially perpendicular to the running direction of the conveyor belt. In this way, ferrous metals can advantageously be continuously discarded. A scraper can be arranged transversely to the conveyor belt of the magnetic separator, below which a collecting container for collecting the ferrous metal waste is set up. As a result, the iron components adhering to the magnets can be easily removed from the continuously running conveyor belt and collected at the same time.

Die Sensoren können kapazitive, induktive, Ultraschall-, Infrarot-oder visuelle Sensoren oder Kombinationen von diesen sein. Dabei ist sie nach der zu dektierenden Müllsorte abzustimmen, welche Sensoren sich am besten zur Lagebestimmung des Mülls auf dem Transportband eignet.The sensors can be capacitive, inductive, ultrasonic, infrared or visual sensors or combinations of these. It is to be coordinated according to the type of waste to be detected, which sensors are best suited for determining the location of the waste the conveyor belt.

Gem. einer weiteren vorteilhaften Ausgestaltung der Erfindung sind die durch die Sensorsignale gesteuerten Greifroboter senkrecht zur Laufrichtung der parallel zueinander ausgerichteten Transportbänder verfahrbar.According to a further advantageous embodiment of the invention, the gripping robots controlled by the sensor signals can be moved perpendicular to the running direction of the conveyor belts aligned parallel to one another.

Ein Sensor kann mehrere Greifroboter steuern oder mehrere Sensoren können einen Greifroboter steuern.One sensor can control several gripping robots or several sensors can control one gripping robot.

Am Ende sämtlicher Transportbänder sind Sammelbehältnisse zur Aufnahme des sortierten Mülls aufgestellt. Vorteilhaft handelt es sich hier um auswechselbare Container, die von entsprechenden Transportfahrzeugen aufgenommen werden können, so daß die entsprechende Müllkomponente in einfacher Art und Weise zur Recyclinganlage transportiert werden kann.At the end of all the conveyor belts there are collecting containers for the sorted garbage. These are advantageously interchangeable containers that can be picked up by appropriate transport vehicles, so that the corresponding waste component can be transported to the recycling plant in a simple manner.

Oberhalb des Aufgabepunkts des Transportbandes kann ein Lager- und Aufgabesilo angeordnet sein. Um eine gleichmäßige Verteilung des Mülls über das Transportband und eine Vereinzelung desselben zu erreichen, wird unterhalb des Lager- und Aufgabesilos vorzugsweise eine Vereinzelungseinrichtung angeordnet.A storage and loading silo can be arranged above the loading point of the conveyor belt. In order to achieve a uniform distribution of the waste over the conveyor belt and a separation thereof, a separation device is preferably arranged below the storage and loading silo.

Um sicherzustellen, daß das Transportband vollständig entleert wird, kann den Greifrobotern eine gegebenenfalls robotergestützte Absaugung nachgeschaltet sein, die eventuell nicht erkannte Kleinteile erfassen und in ein separates Behältnis fördern kann.In order to ensure that the conveyor belt is completely emptied, a robot-assisted suction device, which can possibly detect undetected small parts and convey them into a separate container, can be connected downstream of the gripping robots.

Als Sensor kann mindestens ein Röntgendurchleuchtungssensor vorgesehen werden. Derartige Röntgendurchleuchtungssensoren werden beispielsweise schon bei der Durchleuchtung von Gepäckstücken auf Flughäfen verwendet. Bei der erfindungsgemäßen Vorrichtung können derartige Sensorgen besonders vorteilhaft zum Erkennen der Abfallart sowie der Position des jeweiligen Abfallstücks auf dem Transportband verwendet werden. Zu diesem Zweck ist beispielsweise links und rechts und/oder oberhalb und unterhalb des Transportbandes ebenfalls jeweils mindestens eine senkrechte bzw. waagerechte Platte angeordnet, die auf der einen Seite mit mindestens einer Röntgenröhre versehen ist und auf der anderen Seite des Transportbandes eine entsprechende Bildverstärkerplatte zur Überspielung des aufgenommenen Bildes auf einen Empfänger enthält. Zu diesem Zweck ist die Bildverstärkerplatte mit einer Leuchtschicht versehen, die eine Quantenaufnahme erzeugt. Über Dynoden wird der auftreffende Kathodenstrahl verstärkt und an einen Empfänger zur Auswertung weitergeleitet. Alternativ kann das auf der Bildverstärkerplatte erzeugte Bild mit einer Kamera aufgenommen werden und entsprechend an den Empfänger weitergeleitet werden. Über eine stroboskopierende Röntgenröhre wird der auf einem Transportband vorbei geförderte Abfall durchleuchtet. Aufgrund der unterschiedlichen Helligkeit und der Konturen des durchleuchteten Materials kann seine Dichte und damit die Abfallart bestimmt werden. Rechnergestützt kann der Flächenschwerpunkt des Materials und die Position auf dem Förderband bestimmt werden.At least one X-ray fluoroscopy sensor can be provided as the sensor. X-ray fluoroscopy sensors of this type are already used, for example, in the screening of luggage at airports. In the device according to the invention, such sensors can be detected particularly advantageously the type of waste and the position of the respective piece of waste on the conveyor belt. For this purpose, for example left and right and / or above and below the conveyor belt, at least one vertical or horizontal plate is also arranged, which is provided on one side with at least one X-ray tube and on the other side of the conveyor belt a corresponding image intensifier plate for dubbing contains the captured image on a receiver. For this purpose, the image intensifier plate is provided with a luminous layer which generates a quantum image. The incident cathode beam is amplified via dynodes and forwarded to a receiver for evaluation. Alternatively, the image generated on the image intensifier plate can be recorded with a camera and forwarded accordingly to the receiver. The waste conveyed past on a conveyor belt is illuminated by a stroboscopic X-ray tube. Due to the different brightness and contours of the illuminated material, its density and thus the type of waste can be determined. The center of gravity of the material and the position on the conveyor belt can be determined with the aid of a computer.

Entlang des Förderbandes kann ein erster Röntgendurchleuchungssensor zur Erfassung stark strahlenhemmenden Abfalls angeordnet sein, auf den ein durch diesen gesteuerter Greifroboter zur Entfernung des stark strahlenhemmenden Abfalls und ein weiterer Röntgendurchleuchtungssensor in Laufrichtung des Transportbandes folgen.A first X-ray fluoroscopy sensor for detecting highly radiation-inhibiting waste can be arranged along the conveyor belt, followed by a gripping robot controlled by this to remove the highly radiation-inhibiting waste and another X-ray fluoroscopy sensor in the running direction of the conveyor belt.

Weitere Einzelheiten und Vorteile der vorliegenden Erfindung werden anhand eines in der beigefügten Zeichnung dargestellten Ausführungsbeispiels im folgenden näher erläutert. Es zeigen:

Fig. 1:
eine schematische Gesamtansicht einer beispielhaften Ausführung der erfindungsgemäßen Vorrichtung zum Sortieren von Abfällen und
Fig. 2:
eine schematische Darstellung eines Teiles einer modifizierten Ausführungsform der erfindungsgemäßen Vorrichtung.
Further details and advantages of the present invention are explained in more detail below with reference to an exemplary embodiment shown in the accompanying drawing. Show it:
Fig. 1:
a schematic overall view of an exemplary embodiment of the device for sorting waste and
Fig. 2:
is a schematic representation of part of a modified embodiment of the device according to the invention.

Bei der in der Figur dargestellten Vorrichtung 10 zum Sortieren von Abfällen ist oberhalb des Aufgabepunktes eines Transportbandes 12 ein Lager- und Aufgabesilo 30 angeordnet. Dieses Silo wird beispielsweise mit Hausmüll beschickt, welcher von Müllsammelfahrzeugen des Abfallbeseitigers angeliefert wird. Um eine gleichmäßige Verteilung des aus dem Lager- und Aufgabesilo 30 austretenden Mülls auf dem Transportband 12 zu erreichen, ist unterhalb dessen Austrittsöffnung eine Vereinzelungseinrichtung 32 angeordnet. Diese besteht bei dem hier vorliegenden Ausführungsbeispiel aus flach angebrachten Flächen, die sich über die Breite des Förderbandes 12 erstrecken.In the device 10 for sorting waste shown in the figure, a storage and feed silo 30 is arranged above the feed point of a conveyor belt 12. This silo is loaded with household waste, for example, which is delivered by refuse collection vehicles. In order to achieve a uniform distribution of the waste emerging from the storage and loading silo 30 on the conveyor belt 12, a separating device 32 is arranged below the outlet opening. In the present embodiment, this consists of flat surfaces that extend across the width of the conveyor belt 12.

Der über die Breite des Transportbandes verteilte Abfall wird mit der Geschwindigkeit v des Transportbandes in Pfeilrichtung gefördert.The waste distributed over the width of the conveyor belt is conveyed at the speed v of the conveyor belt in the direction of the arrow.

In Laufrichtung des Transportbandes 12 ist hinter der Vereinzelungsvorrichtung 32 ein Magnetabscheider angeordnet. Dieser Magnetabscheider besteht im wesentlichen aus einem weiteren Transportband 14, das senkrecht zur Laufrichtung des Transportbandes 12 ausgerichtet ist. Das Transportband 14 selbst ist mit Magneten bestückt, so daß es entsprechend magnetische Teile des Abfalles vom Transportband 12 aufnimmt und bis zu einem am Ende des Transportbandes 14 angeordneten Abstreifer transportiert. Dort wird der aufgenommene Eisenmetallschrott vom magnetischen Transportband 14 abgestreift und in einem unterhalb des Abstreifers 22 angeordneten Sammelbehältnis 24 aufgefangen. Dieses Sammelbehältnis ist in der Figur nur schematisch dargestellt und wird üblicherweise ein auswechselbarer Container sein.In the running direction of the conveyor belt 12, a magnetic separator is arranged behind the separating device 32. This magnetic separator essentially consists of a further conveyor belt 14, which is aligned perpendicular to the direction of travel of the conveyor belt 12. The conveyor belt 14 itself is equipped with magnets so that it picks up corresponding magnetic parts of the waste from the conveyor belt 12 and transports it to a scraper arranged at the end of the conveyor belt 14. There, the iron metal scrap picked up by the magnetic Stripped conveyor belt 14 and collected in a collecting container 24 arranged below the stripper 22. This collecting container is only shown schematically in the figure and will usually be a replaceable container.

In Laufrichtung des Transportbandes sind dem Magnetabscheider das Transportband überspannende Sensoren 16,16',16'' vorgesehen. In diesem Beispiel sind drei Sensoren für unterschiedliche Müllkomponenten dargestellt. Selbstverständlich kann die Zahl der Sensoren entsprechend den zu recycelnden Müllbestandteilen weiter erhöht werden. Die Sensoren 16,16',16'', die als kapazitive, induktive, Ultraschall-, Infrarot- oder visuelle Sensoren ausgebildet sein können, detektieren die Lage eines bestimmten Abfallstücks aus dem jeweils entsprechenden Material in x-Richtung. Das Förderband kann getaktet werden, so daß es erst dann die Sensoren durchläuft, wenn eine bestimmte Müllmenge auf dem Band liegt.In the running direction of the conveyor belt, sensors 16, 16 ', 16' 'spanning the conveyor belt are provided to the magnetic separator. This example shows three sensors for different waste components. Of course, the number of sensors can be increased further in accordance with the waste components to be recycled. The sensors 16, 16 ', 16' ', which can be designed as capacitive, inductive, ultrasonic, infrared or visual sensors, detect the position of a certain piece of waste made of the corresponding material in the x direction. The conveyor belt can be clocked so that it only passes through the sensors when a certain amount of waste is on the belt.

In dem Bereich des Transportbandes 12, der hinter den Sensoren 16,16',16'' liegt, sind weitere Transportbänder 18,18',18'', 18''' parallel zu diesem angeordnet. Senkrecht zu diesen Transportbändern 12, 18,18',18'',18''' sind Greifroboter 20,20',20'' entlang Portalen 21,21',21'' verfahrbar. Die Greifroboter 20,20',20'' werden nun entsprechend der durch das Sensorsignals des jeweils zugeordneten Sensors 16,16',16'' festgelegten x-Position des betreffenden Abfallstücks angesteuert. Das heißt, daß der entsprechende Greifroboter 20,20',20'' oberhalb des Transportbandes 12 auf dem Portal 21,21',21'' in die entsprechende x-Position verfahren wird. Nach einem bestimmten Zeitintervall, das aus der Geschwindigkeit oder aus der Taktfrequenz des Transportbandes und dem Abstand zwischen dem jeweiligen Sensor 16,16',16'' und dem jeweils zugeordneten Greifroboter 20,20',20'' errechnet wird, ergreift der Greifroboter 20, 20', 20'' das Abfallstück. Dieses wird aufgenommen und auf dem jeweils dem Greifroboter zugeordneten Transportband 18,18', 18'' abgelegt, wo es bis zu einem Sammelbehältnis 28,28', 28'' weitertransportiert wird.In the area of the conveyor belt 12 which lies behind the sensors 16, 16 ', 16'', further conveyor belts 18, 18', 18 '', 18 '''are arranged parallel to the latter. Gripping robots 20, 20 ', 20''can be moved along portals 21, 21', 21 '' perpendicular to these conveyor belts 12, 18, 18 ', 18'',18'''. The gripping robots 20, 20 ′, 20 ″ are now controlled in accordance with the x position of the waste piece in question, which is determined by the sensor signal of the respectively assigned sensor 16, 16 ′, 16 ″. This means that the corresponding gripping robot 20, 20 ', 20''above the conveyor belt 12 on the portal 21, 21', 21 '' is moved into the corresponding x position. After a certain time interval, which is calculated from the speed or the clock frequency of the conveyor belt and the distance between the respective sensor 16, 16 ', 16''and the respectively assigned gripping robot 20, 20', 20 '', the gripping robot 20 grips , 20 ', 20 '' the scrap. This is picked up and placed on the conveyor belt 18, 18 ', 18''assigned to the gripping robot, where it is transported to a collecting container 28, 28', 28 ''.

Grundsätzlich kann jeder Roboter einer bestimmten Abfallart zugeteilt sein. Es ist aber auch möglich, daß ein Roboter durch mehrere Sensoren angesteuert wird und mehrere parallele Transportbänder bedient. Ein Sensor kann auch mehrere Roboter steuern, die den aussortierten Abfall auf einem Transportband ablegen. Im hier vorliegenden Ausführungsbeispiel weisen die Greifroboter 20,20',20'' einen Einfachgreifarm auf. Selbstverständlich können auch Mehrfachgreifarme an den Greifrobotern 20,20',20'' vorgesehen sein. Weiterhin müssen die Transportbänder nicht, wie hier gezeigt, parallel ausgerichtet sein.In principle, every robot can be assigned to a certain type of waste. However, it is also possible for a robot to be controlled by several sensors and to operate several parallel conveyor belts. A sensor can also control several robots that deposit the sorted waste on a conveyor belt. In the present exemplary embodiment, the gripping robots 20, 20 ′, 20 ″ have a single gripping arm. Of course, multiple gripping arms can also be provided on the gripping robots 20, 20 ', 20' '. Furthermore, the conveyor belts do not have to be aligned parallel, as shown here.

Mittels dieser Vorrichtung können beispielsweise Recyclinggüter wie Papier, Glas, Blech, Gummi und organische Abfälle gesammelt werden. Nicht zu recycelndes Material bleibt auf dem Transportband 12 liegen und wird in dem Sammelbehältnis 26 aufgefangen. Dieser nicht wiederverwertbare Abfall kann beispielsweise einer Müllverbrennungsanlage zugeführt werden.This device can be used, for example, to collect recycled goods such as paper, glass, sheet metal, rubber and organic waste. Material that is not to be recycled remains on the conveyor belt 12 and is collected in the collecting container 26. This non-recyclable waste can be sent to a waste incineration plant, for example.

Der in Fig. 2 dargestellte Ausschnitt der modifizierten Ausführungsform der erfindungsgemäßen Vorrichtung ist dem Magnetabscheider 14 (vgl. Fig. 1) nachgeschaltet. In Transportrichtung des Förderbands 12 (Pfeilrichtung) ist zunächst ein zellenartiger Durchleuchtungssensor 40 angeordnet, in welchem über die Platten 42 und 44 die Durchleuchtung erfolgt. Der Durchleuchtungssensor 40 kann z.B. dazu dienen, starke Strahlenhemmer, wie z.B. Blei, in einer ersten Vorauswahl auf dem Transportband festzustellen. Zu diesem Zweck ist in einer der beiden Platten 42 oder 44 mindestens eine Röntgenröhre installiert. Stroboskopierend wird der auf dem Transportband 12 vorbeigeförderte Abfall durchleuchtet. Die Bildverstärkerplatte,die in der jeweils gegenüberliegenden Platte 42 oder 44 angeordnet ist, gibt das aufgenommene Bild an einen nicht dargestellten Rechner weiter. Über diesen Rechner wird mindestens ein Greifroboter 46 entsprechend der Signale über Position, Art und Flächenschwerpunkt des Abfalls angesteuert, so daß dieser stark strahlenhemmende Abfall vom Transportband 12 aufgenommen und in einem Behältnis 48 abgelegt werden kann.The section of the modified embodiment of the device according to the invention shown in FIG. 2 is connected downstream of the magnetic separator 14 (cf. FIG. 1). In the transport direction of the conveyor belt 12 (arrow direction), a cell-like fluoroscopic sensor 40 is initially arranged, in which the fluoroscopy takes place via the plates 42 and 44. The fluoroscopic sensor 40 can be used, for example, to determine strong radiation inhibitors, such as lead, in a first preselection on the conveyor belt. For this purpose, at least one X-ray tube is installed in one of the two plates 42 or 44. Stroboscopic the waste conveyed past on the conveyor belt 12 is screened. The image intensifier plate, which is arranged in the respective opposite plate 42 or 44, forwards the recorded image to a computer, not shown. At least one gripping robot 46 is controlled via this computer in accordance with the signals relating to the position, type and center of gravity of the waste, so that this strongly radiation-inhibiting waste can be picked up by the conveyor belt 12 and stored in a container 48.

Der von den starken Strahlenhemmern auf diese Weise befreite Abfallstrom wird über das Transportband 12 zu einem weiteren Röntgendurchleuchtungssensor 50 gefördert, der ebenfalls mit zwei senkrecht oder waagerecht angeordneten Platten 52 und 54 mit einer stroboskobierenden Röntgenröhre und einer entsprechenden Bildverstärkung versehen ist. Die Platte 54 ist über eine Leitung mit einem Empfänger 56 verbunden. Die Auswertung der unterschiedlichen Helligkeiten, die ein Maß für die Dichteunterschiede und damit zur Materialerkennung dienen, erfolgt über einen Rechner 58. Gleichfalls wird mit Hilfe der Schwerpunktsermittlung über die Bildauswertung die Lage auf dem Band ermittelt. Ein so ermittelter Koordinatendatensatz wird anschließend der Steuerung 60 für die Greifroboter 20,20',20'' geleitet.The waste stream freed from the strong radiation inhibitors in this way is conveyed via the conveyor belt 12 to a further X-ray fluoroscopic sensor 50, which is also provided with two vertically or horizontally arranged plates 52 and 54 with a stroboscopic X-ray tube and a corresponding image intensification. The plate 54 is connected to a receiver 56 via a line. The evaluation of the different brightnesses, which serve as a measure for the density differences and thus for material detection, is carried out via a computer 58. Likewise, the position on the belt is determined with the aid of the center of gravity determination via the image evaluation. A coordinate data record determined in this way is then passed to the control 60 for the gripping robots 20, 20 ', 20' '.

Der aussortierte recycelbare Abfall wird anschließend einer Wiederverwertung zugeführt, während der nicht aussortierte Abfall beispielsweise in einer Müllverbrennungsanlage entsorgt werden kann.The sorted recyclable waste is then sent for recycling, while the unsorted waste can be disposed of in a waste incineration plant, for example.

Claims (13)

Vorrichtung zum Sortieren von Abfällen mit mindestens einem Transportband (12), oberhalb dessen ein Magnetabscheider (14) angeordnet ist,

dadurch gekennzeichnet,

daß sich über die Breite des Transportbandes (12) mindestens ein Sensor (16,16',16'') erstreckt,

daß zumindest entlang einer Teillänge des Transportbandes (12) wahlweise parallel zu diesem mindestens ein weiteres Transportband (18,18',18'') angeordnet ist und

daß zwischen den Transportbändern (12; 18,18',18'') verfahrbare Greifroboter (20,20',20'') vorgesehen sind, die infolge von Signalen des mindestens einen Sensors verfahrbar sind.Device for sorting waste with at least one conveyor belt (12), above which a magnetic separator (14) is arranged,

characterized,

that at least one sensor (16, 16 ', 16'') extends over the width of the conveyor belt (12),

that at least one further conveyor belt (18, 18 ', 18'') is optionally arranged at least along a partial length of the conveyor belt (12), and

that between the conveyor belts (12; 18, 18 ', 18'') movable gripping robots (20, 20', 20 '') are provided, which as a result of signals from the at least one sensor are movable. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß der Magnetabscheider aus einem mit Magneten bestückten Transportband (14) besteht, das im wesentlichen senkrecht zur Laufrichtung des Transportbandes (12) ausgerichtet ist.Device according to claim 1, characterized in that the magnetic separator consists of a conveyor belt (14) equipped with magnets, which is aligned essentially perpendicular to the running direction of the conveyor belt (12). Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, daß dem Transportband (14) des Magnetabscheiders ein Abstreifer (22) zugeordnet ist, unterhalb dessen ein Sammelbehältnis (24) aufgestellt ist.Apparatus according to claim 2, characterized in that the conveyor belt (14) of the magnetic separator is assigned a scraper (22) below which a collecting container (24) is placed. Vorrichtung nach einem der Ansprüche 1-3, dadurch gekennzeichnet, daß die Sensoren (16,16',16'') kapazitive, induktive, Ultraschall-, Infrarot- oder visuelle Sensoren oder Kombinationen von diesen sind.Device according to one of claims 1-3, characterized in that the sensors (16, 16 ', 16' ') are capacitive, inductive, ultrasonic, infrared or visual sensors or combinations of these. Vorrichtung nach einem der Ansprüche 1-4, dadurch gekennzeichnet, daß die gesteuerten Greifroboter (20,20',20'') senkrecht zur Laufrichtung der Transportbänder (18,18',18'',18''') verfahrbar sind.Device according to one of claims 1-4, characterized in that the controlled gripping robots (20, 20 ', 20' ') can be moved perpendicular to the running direction of the conveyor belts (18, 18', 18 '', 18 '' '). Vorrichtung nach einem der Ansprüche 1-5, dadurch gekennzeichnet, daß ein Sensor (16,16',16'') mehrere Greifroboter steuert oder daß mehrere Sensoren (16,16',16'') einen Greifroboter steuern.Device according to one of claims 1-5, characterized in that a sensor (16, 16 ', 16' ') controls a plurality of gripping robots or that a plurality of sensors (16, 16', 16 '') control a gripping robot. Vorrichtung nach einem der Ansprüche 1-6, dadurch gekennzeichnet, daß am Ende der Transportbänder (12; 18,18',18'',18''') Sammelbehältnisse (26; 28,28', 28'',28''') zur Aufnahme des sortierten Mülls stehen.Device according to one of claims 1-6, characterized in that at the end of the conveyor belts (12; 18, 18 ', 18' ', 18' '') collecting containers (26; 28, 28 ', 28' ', 28' ' ') are available to collect the sorted waste. Vorrichtung nach einem der Ansprüche 1-7, dadurch gekennzeichnet, daß oberhalb des Aufgabepunkts des mindestens einen Transportbandes (12) ein Lager- und Aufgabesilo (30) angeordnet ist.Device according to one of claims 1-7, characterized in that that a storage and feed silo (30) is arranged above the feed point of the at least one conveyor belt (12). Vorrichtung nach einem der Ansprüche 1-8, dadurch gekennzeichnet, daß unterhalb des Lager- und Aufgabesilos (30) eine Vereinzelungseinrichtung (32) angeordnet ist.Device according to one of claims 1-8, characterized in that a separating device (32) is arranged below the storage and loading silo (30). Vorrichtung nach einem der Ansprüche 1-9, dadurch gekennzeichnet, daß den Greifrobotern (20,20',20'') eine oberhalb des Transportbandes (12) angeordnete Absaugung nachgeschaltet ist.Device according to one of claims 1-9, characterized in that the gripping robots (20, 20 ', 20' ') are followed by a suction device arranged above the conveyor belt (12). Vorrichtung nach einem der Ansprüche 1-10, dadurch gekennzeichnet, daß zumindestens ein Sensor als Röntgendurchleuchtungssensor (40) ausgebildet ist.Device according to one of claims 1-10, characterized in that at least one sensor is designed as an X-ray fluoroscopic sensor (40). Vorrichtung nach Anspruch 11, dadurch gekennzeichnet, daß der Röntgendurchleuchtungssensor aus mindestens einer gegebenenfalls stroboskopierenden Röntgenröhre (42) und einer Bildverstärkerplatte (44) besteht, von der aus die aufgenommenen Bilder auf einen Empfänger übertragen werden.Apparatus according to claim 11, characterized in that the X-ray fluoroscopy sensor consists of at least one stroboscopic X-ray tube (42) and an image intensifier plate (44) from which the recorded images are transmitted to a receiver. Vorrichtung nach Anspruch 11 oder 12, dadurch gekennzeichnet, daß ein erster Röntgendurchleuchtungssensor (40) am Transportband (12) zur Erfassung stark strahlenhemmenden Abfalls angeordnet ist, daß ein durch diesen gesteuerter Greifroboter (46) zur Entfernung des starkstahlenhemmenden Abfalls und ein weiterer Röntgendurchleuchtungssensor (15) in Laufrichtung des Transportbandes (12) nachgeschaltet sind.Apparatus according to claim 11 or 12, characterized in that a first X-ray fluoroscopic sensor (40) is arranged on the conveyor belt (12) for the detection of strongly radiation-inhibiting waste, that a gripping robot (46) controlled by this is used to remove the highly radiation-inhibiting waste and another X-ray fluoroscopic sensor (15 ) are connected in the running direction of the conveyor belt (12).
EP90117089A 1990-01-31 1990-09-05 Device for sorting waste Expired - Lifetime EP0439674B1 (en)

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AT90117089T ATE104178T1 (en) 1990-01-31 1990-09-05 DEVICE FOR SORTING WASTE.

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DE4002806A DE4002806A1 (en) 1990-01-31 1990-01-31 Sorting arrangement for scrap parts - uses magnetic deposition belt above transport belt next to grip robots alongside another transport belt
DE4002806 1990-01-31

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Also Published As

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EP0439674A3 (en) 1992-01-02
ATE104178T1 (en) 1994-04-15
EP0439674B1 (en) 1994-04-13
DE4002806A1 (en) 1991-08-01
DE59005364D1 (en) 1994-05-19

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