CN113877941A

Movatterモバイル変換

Info

Publication number: CN113877941A
Application number: CN202111264066.8A
Authority: CN
Inventors: 张秋艳
Original assignee: Individual
Current assignee: Qingdao Huicheng Environmental Technology Co ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2022-01-04
Anticipated expiration: 2041-10-29
Also published as: CN113877941B

Abstract

The invention relates to a low-carbon treatment process for automatically sorting domestic garbage and recycling resources, which comprises the following steps of: bag breaking treatment is carried out on the household garbage; carrying out primary screening and magnetic separation on the household garbage; carrying out primary crushing on the domestic garbage; carrying out secondary screening on the household garbage to obtain oversize products and undersize products, and carrying out secondary crushing on the undersize products; squeezing the domestic garbage to obtain solid substances and organic liquid; separating inorganic substances and other substances from solid substances; carrying out secondary sorting on other substances to regenerate fibers so as to obtain other residual substances, and carrying out secondary sorting on the other residual substances so as to obtain thin-film plastics and low-value combustible substances; the separated low value combustibles and oversize are collected to produce the RDF derived fuel. According to the invention, the articles are automatically screened by the control unit, so that the accuracy of primary screening is ensured, the recovery rate of household garbage is further improved, the risk of manual contact with the household garbage is reduced, the working efficiency is improved, 100% energy and resource utilization of the garbage can be further realized, the emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are realized.

Description

Low-carbon treatment process for automatic sorting and resource circulation of household garbage

Technical Field

The invention relates to the technical field of household garbage treatment, in particular to a low-carbon treatment process for automatically sorting and recycling household garbage.

Background

At present, the national garbage classification work is gradually implemented, the garbage front-end classification popularization work is also in progress, the garbage source classification collection is reasonably carried out, the garbage clearing and transportation amount and the final treatment amount can be reduced, the terminal treatment pressure is reduced, resources in the garbage can be recycled, the treatment efficiency is improved, and the resource-saving and environment-friendly social construction is promoted. Source classification has a promoting effect on terminal decrement to a certain extent. However, each classified substance is still mixed garbage and cannot be directly used as a resource to enter a regeneration network.

Due to the complex components of the garbage, the source classification is only to the regeneration attributes of different kinds of substances in the garbage, the garbage is simply classified, the garbage is still mixed after the classification, and the accurate subdivision cannot be realized to separate the articles such as glass bottles, plastic bottles and the like with secondary utilization value from the household garbage.

Disclosure of Invention

Therefore, the invention provides a low-carbon treatment process for automatically sorting domestic garbage and recycling resources, which is used for solving the problems that the domestic garbage is still mixed after being sorted in the prior art and the precise subdivision cannot be realized to separate articles such as glass bottles, plastic bottles and the like with secondary utilization values from the domestic garbage.

In order to achieve the aim, the invention provides a low-carbon treatment process for automatically sorting domestic garbage and recycling resources, which comprises the following steps:

step S1, conveying the household garbage to a material pool in a treatment workshop for temporary storage, and controlling a gripping device to convey the household garbage in the material pool to a bag breaking machine by a control unit for bag breaking treatment;

step S2, the control unit starts the automatic screening device to carry out primary screening on the household garbage subjected to bag breaking treatment and starts a magnetic separator to carry out magnetic separation on the household garbage after the primary screening is finished;

step S3, the control unit conveys the domestic garbage after magnetic separation to a shredder so that the shredder can carry out primary crushing on the domestic garbage;

step S4, the control unit conveys the household garbage subjected to primary crushing to a screening machine to perform secondary screening on the household garbage, oversize products and undersize products are obtained after secondary screening, and the control unit conveys the undersize products to a selective crusher to perform secondary selective crushing;

step S5, the control unit conveys the domestic garbage selectively crushed by the secondary selection to the spiral squeezing machine so that the spiral squeezing machine squeezes the domestic garbage to obtain solid substances and organic liquid;

in step S6, the control unit conveys the solid matter to an inorganic matter separator to separate inorganic matter and other matter in the solid matter.

Step S7, the control unit conveys other substances to a regenerated fiber extraction separator, the regenerated fiber extraction separator separates the regenerated fibers from the other substances to obtain residual other substances, and the control unit conveys the separated residual other substances to a plastic flotation machine for secondary separation to obtain thin-film plastics and low-value combustible substances;

step S8, the control unit collecting low value combustibles and the oversize to produce RDF derived fuel;

the control unit is preset with a grabbed object profile curve Q0, when primary screening is carried out, the control unit acquires an actual profile curve Q of an object in a household garbage image shot by the image acquisition device, compares the Q with a preset grabbed object profile curve Q0 to calculate a profile curve difference value delta Q and judges whether the delta Q meets the standard, if the control unit judges that the profile curve difference value meets the standard, the control unit controls the grabbing part to pre-grab the object, and if the control unit judges that the profile curve difference value does not meet the standard, the control unit does not pre-grab the object;

the control unit is also preset with a standard deformation W0, when the grabbing part pre-grabs the article, the control unit acquires the actual deformation W of the article detected by the displacement sensor, compares the W with the standard deformation W0 and judges whether the pre-grabbed article meets the standard again according to the comparison result, if the control unit judges that the deformation of the article meets the standard, the control unit controls the grabbing part to grab the article, and if the control unit judges that the deformation of the article does not meet the standard, the control unit does not grab the article.

The control unit also presets a standard article integrity degree R0, when the grabbing part grabs the article, the control unit obtains the article image shot by the image obtaining device to calculate the article actual integrity degree R, and after the calculation is completed, the control unit compares the article actual integrity degree with the preset standard integrity degree R0 to classify the article.

Further, when primary screening is carried out, the control unit acquires an actual profile curve Q of an article in a household garbage image shot by the image acquisition device, compares the Q with a preset grabbed article profile curve Q0, and calculates a profile curve difference value delta Q to judge whether the article is grabbed, wherein the delta Q is set to be = | Q-Q0 |;

the control unit further provides a first profile curve difference Δ Q1 and a second profile curve difference Δ Q2, wherein Δ Q1 < Δq 2;

when the delta Q is less than or equal to the delta Q1, the control unit judges that the difference value of the contour curves meets the standard, and the control unit controls the grabbing part to pre-grab the article;

when the quantity delta Q is more than or equal to delta Q1 and less than or equal to delta Q2, the control unit judges that the deformation quantity of the article needs to be combined to carry out secondary judgment on whether the article meets the grabbing standard;

when DeltaQ > DeltaQ 0, the control unit judges that the difference value of the contour curve does not meet the standard, and the control unit does not pre-grab the article.

Further, the control unit also presets a standard deformation amount W0, and when the article is pre-grabbed by the grabbing part and the control unit needs to perform secondary determination on whether the article meets the grabbing standard according to the article deformation amount, the control unit acquires the actual deformation amount W of the article measured by the displacement sensor, compares W with the preset standard deformation amount W0, and determines whether the pre-grabbed article meets the standard again according to the comparison result;

when W is not more than W0, the control unit judges that the deformation quantity of the article meets the standard, and the control unit controls the grabbing part to grab the article;

when W is larger than W0, the control unit judges that the deformation quantity of the article does not meet the standard, and the control unit does not grab the article.

Further, the control unit also presets material hardness E0, and when performing secondary determination on article grabbing, the control unit obtains actual article material hardness E and corrects the preset standard article deformation according to the actual material hardness E, and records the corrected preset standard article deformation as R0 ', and sets R0' = (1- (E/E0)) × R0.

Further, the control unit is also provided with a maximum number Amax of grabbed articles, and when the articles are grabbed, the control unit obtains an actual number A of grabbed articles and compares the actual number A with the maximum number Amax of grabbed articles;

when A is less than or equal to Amax, the control unit judges that the quantity of the grabbed articles meets the standard and does not adjust the moving speed of the conveying device;

when A is larger than Amax, the control unit judges that the quantity of the grabbed articles does not meet the standard and adjusts the moving speed of the conveying device.

Further, when the control unit determines that the adjustment of the moving speed of the conveying device is required, the control unit records the adjusted moving speed of the conveying device as V, and sets V = V0 × (1- (Amax/a)), where V0 is a preset conveying device moving speed.

Further, the control unit is also provided with a minimum value Vmin of the moving speed of the conveying device, when the control unit finishes adjusting the moving speed of the conveying device, the control unit compares the adjusted moving speed V of the conveying device with the minimum value Vmin of the moving speed of the conveying device, and when the V is larger than or equal to Vmin, the control unit judges that the moving speed of the conveying device meets the standard and adjusts the moving speed of the conveying device to a corresponding value; when V < Vmin, the control unit judges that the moving speed of the conveying device meets the standard and reduces the bag breaking speed of the bag breaking machine.

Further, the control unit also presets a standard article integrity degree R0, when the grabbing part grabs the article, the control unit acquires the article image shot by the image acquisition device to calculate the article actual integrity degree R, and after the calculation is completed, the control unit compares the article actual integrity degree with the preset standard integrity degree R0;

the preset standard article integrity degree R0 comprises a first standard article integrity degree R1 and a second standard article integrity degree R2, wherein R1 < R2;

when R < R1, the control unit judges that the integrity of the article does not meet the standard and abandons the grabbing of the article;

when R1 is not less than R < R2, the control unit judges that the integrity of the article meets the standard and marks the article as a first integrity article;

when R is larger than or equal to R2, the control unit judges that the item integrity meets the standard and marks the item as a second integrity item.

Compared with the prior art, the invention has the advantages that the control unit is preset with grabbing standard parameters, the image acquisition device is used for shooting the domestic garbage image to primarily screen large articles and textile articles which are not easy to be broken, and screen out articles such as glass bottles, plastic bottles and the like with recycling value, and whether the articles are grabbed is judged secondarily through the deformation quantity of the articles during grabbing, so that the accuracy of primary screening is ensured, the articles such as the glass bottles, the plastic bottles and the like which are not easy to be broken and have recycling value in the domestic garbage can be screened, the recovery rate of the domestic garbage is further improved, the grabbed articles are classified through the integrity of the articles, the recovery rate of the domestic garbage is improved again, the articles are automatically screened through the control unit, the risk of manual contact with the domestic garbage is reduced, and the working efficiency is improved, further, 100% of energy and resource utilization of the garbage can be realized, the emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are realized.

Further, through the treatment of the processes, the garbage can be subdivided into 5 categories in a centralized mode, the RDF produced by sundries can be used as energy, and other recycled plastics, recycled fibers, metals and sandstone inorganic matters can be directly used as recycled resource raw materials and directly enter a recycling network system to produce different industrial products, so that 100% energy and resource utilization of the garbage can be realized. Greatly reduces the emission of garbage pollutants and realizes energy conservation and emission reduction.

Further, through predetermineeing the standard of snatching, and acquire article profile and predetermine article profile through image acquisition device and contrast, can improve the rate of accuracy that article snatched, it is further, through first screening, can screen out among the domestic waste not fragile and have article such as reuse value glass bottle, plastic bottle, domestic waste's rate of recovery has further been improved, domestic waste's rate of recovery has been improved once more, carry out automatic screening to article through the control unit, the risk that has reduced artifical contact domestic waste has improved work efficiency, further can realize 100% energy and resource utilization of rubbish, reduce the emission of rubbish pollutant by a wide margin, realize energy saving and emission reduction.

Furthermore, the invention carries out secondary judgment on whether to grab the articles or not through the actual deformation quantity of the articles, can accurately grab the articles meeting the standard, further improves the grabbing success rate of the articles such as glass bottles, plastic bottles and the like which are not easy to break and have reutilization value, and improves the recovery rate of the household garbage again, and the articles are automatically screened through the control unit, so that the risk of manual contact with the household garbage is reduced, the working efficiency is improved, 100% of energy and resource utilization of the garbage can be further realized, the emission of garbage pollutants is greatly reduced, and the energy conservation and emission reduction are realized.

Further, the control unit is further provided with the maximum quantity Amax of the grabbed articles, the quantity of the articles which need to be grabbed actually is obtained to adjust the moving speed of the conveying device, grabbing efficiency can be guaranteed, missing grabbing is prevented, the recovery rate of the household garbage is improved again, the articles are automatically screened through the control unit, the risk of manual contact of the household garbage is reduced, working efficiency is improved, 100% of energy and resource utilization of the garbage can be further achieved, emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are achieved.

Further, the quantity of articles to be grabbed through actual acquisition is adjusted according to the moving speed of the conveying device, grabbing efficiency can be guaranteed, missing grabbing is prevented, the recovery rate of the household garbage is improved again, automatic screening is performed on the articles through the control unit, the risk of manual contact of the household garbage is reduced, working efficiency is improved, 100% of energy and resource utilization of the garbage can be further achieved, emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are achieved.

Further, the control unit is also provided with a minimum value Vmin of the moving speed of the conveying device, the grabbing efficiency of the articles can be indirectly improved through the control of the moving speed of the conveying device, the recovery rate of the household garbage is improved again, the articles are automatically screened through the control unit, the risk of manual contact of the household garbage is reduced, the working efficiency is improved, 100% energy and resource utilization of the garbage can be further realized, the emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are realized.

Particularly, the control unit still presets standard article integrity R0, the control unit acquires the article image that the image acquisition device was shot is in order to calculate article actual integrity R, through will actual integrity with preset article integrity right, can carry out accurate classification to the article that accords with the grabbing standard, can carry out reutilization to for example complete glass article, improved article utilization ratio, further improved domestic waste's rate of recovery, improved domestic waste's rate of recovery once more, carry out automatic screening to article through the control unit, reduced the risk of artifical contact domestic waste and improved work efficiency, further can realize 100% energy and resource utilization of rubbish, reduce the emission of rubbish pollutant by a wide margin, realize energy saving and emission reduction.

Drawings

FIG. 1 is a schematic flow diagram of a low-carbon treatment process for automatic sorting and resource recycling of household garbage according to the present invention;

FIG. 2 is a system block diagram of the low carbon treatment process for automatic sorting and resource recycling of household waste in accordance with the present invention;

reference numerals: 1-material pool, 2-grabbing device, 3-bag breaking machine, 4-automatic screening device, 5-magnetic separator, 6-shredder, 7-screening machine, 8-selective crusher, 9-spiral squeezing machine, 10-inorganic screening machine, 11-regenerated fiber extraction separator, 12-plastic flotation machine and 13-conveying device.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1, a schematic flow chart of a low-carbon treatment process for automatic sorting and resource recycling of household garbage according to an embodiment of the present invention includes:

step S1, conveying the household garbage to a processing workshop, placing the household garbage into a material pool for temporary storage, and controlling the gripping device to convey the household garbage to a bag breaking machine by the control unit for bag breaking processing;

step S2, the control unit starts the automatic screening device to carry out primary screening on the household garbage subjected to bag breaking treatment, and after the primary screening is finished, the control unit starts the magnetic separator to carry out magnetic separation on the household garbage;

step S3, the control unit conveys the domestic garbage after magnetic separation to a shredder for primary crushing;

step S8, the control unit collects low value combustibles and the oversize to produce the RDF derived fuel.

Referring to fig. 2, a schematic diagram of an apparatus for low-carbon treatment of domestic garbage automatic separation and resource recycling according to an embodiment of the present invention includes a control unit (not shown), a material tank 1, a gripping device 2, a bag breaker 3, an automatic screening device 4, a magnetic separator 5, a shredder 6, a screening machine 7, a selective crusher 8, a spiral squeezer 9, an inorganic matter separator 10, a regenerated fiber extraction separator 11, and a plastic flotation machine 12, which are connected in sequence via a conveyingdevice 13.

Particularly, the control unit mixes domestic waste and transports to the workshop, puts into the material pond and keeps in temporarily, then the control unit starts grabbing device and grabs into mixed domestic waste bag-breaking machine and break the bag, and during normal operating, rubbish realizes that daily product day is clear. The garbage after bag breaking is primarily screened by an automatic screening device, so that the unbreakable and complete textile, plastic bottles, glass bottles and other bottles in the mixed domestic garbage are primarily screened for secondary utilization, and after primary screening is completed, magnetic separation is performed, and the separated metal materials can be directly sold.

The domestic garbage after magnetic separation is subjected to primary crushing and secondary screening through a crusher, the crushing is 1-30cm, the diameter of a sieve pore is 20-25cm, and oversize materials are large-size materials such as textile materials.

And (3) enabling the undersize to enter a selective crusher, adding water at an inlet to fully mix the garbage with the water, fully absorbing various components in the garbage, wherein the water-solid ratio reaches 1-1.5: 1, a special crushing device is arranged in the crusher, the materials such as paper, paper-plastic compound, kitchen waste organic matters and the like in the garbage can be crushed for the second time until the particle size of the crushed materials is less than 1cm, wherein, the paper-plastic compound can separate paper fiber and plastic from more than 80 percent of the compound by the crushing force,

and (4) feeding the household garbage after secondary crushing into a spiral squeezing machine, squeezing the materials, and feeding the squeezed water into a settling pond of a water treatment system. The solid matter can be separated from inorganic matters such as sand and stone by an inorganic matter separator. After being screened, the inorganic matters pass through a screening device, the screen hole diameter is 1-3cm, impurities are removed, and the residual substances such as sandstone, glass, ceramics and the like can be recycled as engineering or building material auxiliary materials.

And (3) other substances enter a regenerated fiber extraction separator, the regenerated fibers in the regenerated fibers are separated, and the regenerated fibers are further treated through the procedures of dilution, impurity removal of light and heavy substances and the like to obtain the regenerated fibers.

The rest other materials enter a flotation machine for secondary separation, the thin film plastics in the materials are separated through pneumatic and mechanical actions, the main components of the thin film plastics are PP and PE packaging bags,

and the other substances remained in the secondary separation are mainly low-value substances such as bamboo wood, rubber, mixed plastics, textiles and the like, and the components are combined with oversize products screened in the previous process, and then are crushed to obtain relatively uniform materials with the length of less than 3cm, and the relatively uniform materials are produced to prepare the RDF derived fuel.

Through the treatment of the processes, the garbage can be subdivided into 5 types in a centralized mode, except that sundries are used for producing RDF and used as energy, other regenerated film plastics, regenerated fibers, metals and sand inorganic matters can be directly used as regenerated resource raw materials and directly enter a regeneration utilization network system to produce different industrial products, and 100% energy and resource utilization of the garbage is realized. Greatly reduces the emission of garbage pollutants and realizes energy conservation and emission reduction.

Specifically, about 0.5-2 times of water is required to be supplemented in the secondary crushing unit to ensure that the domestic garbage fully absorbs water, organic matters such as kitchen waste in the domestic garbage can be mechanically crushed by the crushing unit, more than 90% of the matters can be softened and even slurried, and the subsequent separation of the organic matters in the kitchen waste is facilitated.

During the process of spiral squeezing after secondary crushing, more than 80% of organic waste liquid can be further separated from solid substances under the action of high-pressure mechanical force.

The water is added into the separation cavity of the equipment, and the separation of inorganic substances and other substances is realized mainly by using the actions of mechanical force, buoyancy and the like. Other substances and water in the cavity of the sorting machine enter the subsequent regenerated fiber extracting machine together.

The plastic sorting machine separates the film plastics and other materials in the household garbage by utilizing the action of mechanical force and water buoyancy, and can recycle the medium and low-value film plastics accounting for 8-15% of the garbage for resource utilization. Other combustible low-value impurities obtained by separation can be converted into heat energy for recycling.

The recyclable resources of metals, regenerated fibers, plastics, biodegradable organic matters and low-value combustible RDF in the garbage can be recycled through an automatic sorting process, and CO in the garbage treatment process is greatly reduced through resource recycling and rear-end energy utilization of the recyclable matters in the garbage₂And (4) discharging, belonging to a low-carbon treatment method.

Specifically, the control unit starts a matched water pump in the operation process, adjusts and controls the flow of water through a preset process and liquid level feedback, ensures the balance of the inflow water quantity and the outflow water quantity in each sorting device, starts a conveying pump, pumps the organic concentrated liquid separated by the screw wringing machine into the water treatment system, starts an automatic control system of the water treatment module, and recycles the organic concentrated liquid after the organic concentrated liquid reaches the standard after the organic concentrated liquid is treated by the automatic control system.

Particularly, an image acquisition device for acquiring a household garbage image and a grabbing portion for grabbing are arranged in the automatic screening device, and a weight sensor for acquiring the weight of a grabbed object and a displacement sensor for acquiring the deformation of the grabbed object are arranged on the grabbing portion.

Specifically, a grabbed object profile curve Q0 is preset in the control unit, when primary screening is performed, the control unit acquires an actual profile curve Q of an object in a household garbage image shot by the image acquisition device, compares Q with a preset grabbed object profile curve Q0 to calculate a profile curve difference value delta Q and judges whether the delta Q meets a standard, if the control unit judges that the profile curve difference value meets the standard, the control unit controls the grabbing part to pre-grab the object, and if the control unit judges that the profile curve difference value does not meet the standard, the control unit does not pre-grab the object;

Specifically, grabbing standard parameters are preset in the control unit, the image acquisition device is used for shooting images of household garbage to perform primary screening on articles which are difficult to break in the household garbage, secondary judgment is performed on whether the articles are grabbed or not according to deformation of the articles during grabbing, accuracy of primary screening is guaranteed, the articles which are difficult to break in the household garbage can be screened, the recovery rate of the household garbage is further improved, the grabbed articles are classified according to the integrity of the articles, the recovery rate of the household garbage is improved again, the articles are automatically screened through the control unit, risks of manual contact with the household garbage are reduced, working efficiency is improved, 100% energy utilization and resource utilization of the garbage can be further achieved, emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are achieved. It can be understood by those skilled in the art that, in the present embodiment, the manner of comparing the outlines of the articles is adopted to determine whether to grasp the articles, but it may also be determined based on other parameters of image processing, such as the weight of the articles, the transmittance of the articles, and the like, and only the image information of the articles needs to be uniquely acquired in real time and compared without difference. Of course, when acquiring the deformation amount information of the article, not only the acquisition mode of the position of the grasping portion in the embodiment, but also the modes of the contour information of the article and the grasping force of the grasping portion may be adopted, and only the acquirable information of the deformation amount of the article can be completely judged. In particular, the embodiment grabs the article based on the comparison result of the article profile, adopts the article profile which can be obtained in real time to be associated with the grabbing part, and can accurately and continuously grab the article in the working process.

Specifically, when primary screening is performed, the control unit acquires an actual profile curve Q of an article in a household garbage image shot by the image acquisition device, compares Q with a preset grabbed article profile curve Q0, and calculates a profile curve difference value Δ Q to determine whether the article is grabbed, where Δ Q = | Q-Q0 |;

Particularly, through predetermineeing the standard of snatching, and acquire article profile and predetermine the article profile through image acquisition device and contrast, can improve the rate of accuracy that article snatched, it is further, through first screening, the difficult broken article in the life rubbish can be sieved, the rate of recovery of life rubbish has further been improved, the rate of recovery of life rubbish has been improved once more, carry out automatic screening to article through the control unit, the risk that artifical contact life rubbish has been reduced and work efficiency has been improved, further can realize rubbish 100% energy and resource utilization, reduce the emission of rubbish pollutant by a wide margin, realize energy saving and emission reduction.

Specifically, the control unit further presets a standard deformation amount W0, and when the article is pre-grabbed by the grabbing part and the control unit needs to perform secondary judgment on whether the article meets the grabbing standard according to the article deformation amount, the control unit acquires the actual deformation amount W of the article measured by the displacement sensor, compares W with the preset standard deformation amount W0, and determines whether the pre-grabbed article meets the standard again according to the comparison result;

Specifically, whether the articles are grabbed or not is secondarily judged according to the actual deformation quantity of the articles, the articles meeting the standard can be accurately grabbed, the grabbing success rate of the articles which are not easy to break is further improved, the recovery rate of the household garbage is improved again, the articles are automatically screened by the control unit, the risk of manual contact with the household garbage is reduced, the working efficiency is improved, 100% energy and resource utilization of the garbage can be further realized, the emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are realized.

Specifically, the material hardness E0 is preset in the control unit, when the article grabbing is determined for the second time, the control unit obtains the actual article material hardness E and corrects the preset standard article deformation according to the actual material hardness E, and the control unit records the corrected preset standard article deformation as R0 ', and sets R0' = (1- (E/E0)) × R0.

Specifically, the material hardness E0 is preset in the control unit, the control unit corrects the deformation amount of the standard article through the material hardness of the article, the precision rate of grabbing can be effectively improved, grabbing of the easily-damaged article with the contour meeting the standard but the deformation amount not meeting the standard is eliminated, the recovery rate of the household garbage is improved again, the article is automatically screened through the control unit, the risk of manual contact of the household garbage is reduced, the working efficiency is improved, 100% of energy and resource utilization of the garbage can be further realized, the emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are realized.

Specifically, the control unit is further provided with a maximum number of articles to be grabbed Amax, and when article grabbing is performed, the control unit obtains an actual number of articles to be grabbed A and compares the actual number of articles to be grabbed A with the maximum number of articles to be grabbed Amax;

Particularly, the control unit is further provided with the maximum quantity Amax of the grabbed articles, the quantity of the articles which need to be grabbed actually is obtained to adjust the moving speed of the conveying device, grabbing efficiency can be guaranteed, missing grabbing is prevented, the recovery rate of the household garbage is improved again, the articles are automatically screened through the control unit, the risk of manual contact of the household garbage is reduced, working efficiency is improved, 100% of energy and resource utilization of the garbage can be further achieved, emission of garbage pollutants is greatly reduced, and energy conservation and emission reduction are achieved.

Specifically, when the control unit determines that the adjustment of the moving speed of the conveying device is necessary, the control unit records the adjusted moving speed of the conveying device as V, and sets V = V0 × (1- (Amax/a)), where V0 is a preset conveying device moving speed.

Particularly, article quantity through obtaining actual need and snatching is adjusted in order to conveyor's translation rate, can guarantee to snatch efficiency, prevents to leak and grabs, has improved domestic waste's rate of recovery once more, carries out automatic screening to article through the control unit, has reduced the risk of manual contact domestic waste and has improved work efficiency, further can realize rubbish 100%'s energy and utilization, reduces the emission of rubbish pollutant by a wide margin, realizes energy saving and emission reduction.

Specifically, the control unit is further provided with a minimum value Vmin of the moving speed of the conveying device, when the control unit finishes adjusting the moving speed of the conveying device, the control unit compares the adjusted moving speed V of the conveying device with the minimum value Vmin of the moving speed of the conveying device, and when the V is larger than or equal to the Vmin, the control unit judges that the moving speed of the conveying device meets the standard and adjusts the moving speed of the conveying device to a corresponding value; when V < Vmin, the control unit judges that the moving speed of the conveying device meets the standard and reduces the bag breaking speed of the bag breaking machine.

Particularly, the control unit still is provided with conveyor moving speed minimum value Vmin, through the control to conveyor moving speed, can be indirect promotion article snatch efficiency, has improved domestic waste's rate of recovery once more, carries out automatic screening to article through the control unit, has reduced the risk of manual contact domestic waste and has improved work efficiency, further can realize rubbish 100% energy and resource utilization, reduces the emission of rubbish pollutant by a wide margin, realizes energy saving and emission reduction.

Specifically, the control unit further presets a standard article integrity degree R0, when the grasping part grasps the article, the control unit acquires the article image captured by the image capturing device to calculate an article actual integrity degree R, and after the calculation is completed, the control unit compares the article actual integrity degree with a preset standard integrity degree R0;

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

Translated fromChinese

1.一种生活垃圾自动分选和资源循环的低碳处理工艺，其特征在于，包括：1. a low-carbon treatment process for automatic sorting of domestic waste and resource recycling, is characterized in that, comprising:

步骤S1，将生活垃圾运送至处理车间中的料池中暂存，控制单元控制抓取装置将料池中的生活垃圾输送至破袋机中以进行破袋处理；In step S1, the domestic garbage is transported to the material pond in the processing workshop for temporary storage, and the control unit controls the grasping device to transport the domestic garbage in the material pond to the bag breaking machine for bag breaking processing;

步骤S2，所述控制单元启动自动筛分装置对经过破袋处理的生活垃圾进行初次筛分并在初次筛分完成后启动磁选机以对生活垃圾进行磁选；Step S2, the control unit activates the automatic screening device to perform primary screening of the household garbage that has undergone the bag-breaking treatment, and starts the magnetic separator to magnetically separate the household garbage after the primary screening is completed;

步骤S3，所述控制单元将经过磁选后的生活垃圾输送至撕碎机以使撕碎机对生活垃圾进行初次破碎；Step S3, the control unit transports the household garbage after magnetic separation to the shredder so that the shredder performs primary shredding of the household garbage;

步骤S4，所述控制单元将经过初次破碎后的生活垃圾输送至筛分机以对生活垃圾进行二次筛分，二次筛分后得到筛上物和筛下物，控制单元将筛下物输送到选择性破碎机进行二次选择性破碎；Step S4, the control unit transports the primary crushed domestic waste to the screening machine for secondary screening of the domestic waste. After the secondary screening, the oversize and undersize are obtained, and the control unit transports the undersize. to the selective crusher for secondary selective crushing;

步骤S5，所述控制单元将经过二次选择选择性破碎的生活垃圾输送至螺旋挤干机以使螺旋挤干机对生活垃圾进行挤干以得到固性物质和有机液体；Step S5, the control unit transports the domestic garbage that has undergone secondary selection and selective crushing to the screw squeezer, so that the screw squeezer squeezes the domestic waste to obtain solid substances and organic liquids;

步骤S6，所述控制单元将固性物质输送至无机物分选机以分离固性物质中的无机物和其他物质；Step S6, the control unit transports the solid matter to the inorganic matter sorting machine to separate inorganic matter and other matter in the solid matter;

步骤S7，所述控制单元将其他物质输送到再生纤维提取分离机，再生纤维提取分离机从其他物质中分选再生纤维以得到剩余其他物质，控制单元将经过分选的剩余其他物质输送至塑料浮选机以进行二次分选以获得薄膜类塑料和低值可燃物；Step S7, the control unit transports other substances to the regenerated fiber extraction and separator, the regenerated fiber extraction and separation machine sorts the regenerated fibers from the other substances to obtain the remaining other substances, and the control unit conveys the sorted remaining other substances to the plastic. Flotation machine for secondary sorting to obtain film-like plastics and low-value combustibles;

步骤S8，所述控制单元收集低值可燃物和所述筛上物以制备RDF衍生燃料；Step S8, the control unit collects low-value combustibles and the oversize to prepare RDF-derived fuel;

所述控制单元中预设有抓取物轮廓曲线Q0，在进行初次筛分时，所述控制单元获取所述图像获取装置拍摄的生活垃圾图像中的物品实际轮廓曲线Q、将Q与预设抓取物轮廓曲线Q0进行比对以计算轮廓曲线差值△Q并判定△Q是否符合标准，若所述控制单元判定轮廓曲线差值符合标准，所述控制单元控制抓取部对该物品进行预抓取，若所述控制单元判定轮廓曲线差值不符合标准，所述控制单元不对该物品进行预抓取；The control unit is preset with a contour curve Q0 of the grabbed object. During the initial screening, the control unit acquires the actual contour curve Q of the item in the domestic garbage image captured by the image acquisition device, and compares Q with the preset. The contour curve Q0 of the grabbed object is compared to calculate the contour curve difference ΔQ and determine whether ΔQ meets the standard. If the control unit determines that the contour curve difference meets the standard, the control unit controls the grasping part to carry out Pre-grabbing, if the control unit determines that the difference between the contour curves does not meet the standard, the control unit does not pre-grab the item;

所述控制单元还预设有标准形变量W0，当所述抓取部对物品进行预抓取时，所述控制单元获取位移传感器检测的物品实际形变量W、将W与标准形变量W0进行比对并根据比对结果再次判定预抓取物品是否符合标准，若所述控制单元判定物品形变量符合标准，所述控制单元则控制所述抓取部对物品进行抓取，若所述控制单元判定物品形变量不符合标准，所述控制单元则不对物品进行抓取；The control unit is also preset with a standard deformation amount W0. When the grasping part pre-grabs the article, the control unit obtains the actual deformation amount W of the article detected by the displacement sensor, and compares W with the standard deformation amount W0. Compare and judge again whether the pre-grabbed item meets the standard according to the comparison result. If the control unit determines that the deformation amount of the item meets the standard, the control unit controls the grasping part to grasp the item. The unit determines that the deformation amount of the item does not meet the standard, and the control unit does not grab the item;

所述控制单元还预设标准物品完整度R0，当所述抓取部对物品进行抓取时，所述控制单元获取所述图像获取装置拍摄的物品图像以计算物品实际完整度R，计算完成后，所述控制单元将物品实际完整度与预设标准完整度R0进行比对以对物品进行分类。The control unit also presets a standard item integrity R0. When the grabbing part grabs the item, the control unit acquires the image of the item captured by the image acquisition device to calculate the actual item integrity R, and the calculation is completed. Then, the control unit compares the actual integrity of the item with the preset standard integrity R0 to classify the item.

2.根据权利要求1所述的生活垃圾自动分选和资源循环的低碳处理工艺，其特征在于，在进行初次筛分时，所述控制单元获取所述图像获取装置拍摄的生活垃圾图像中的物品实际轮廓曲线Q、将Q与预设抓取物轮廓曲线Q0进行比对并计算轮廓曲线差值△Q以判定是否抓取该物品，设定，△Q=|Q-Q0|；2 . The low-carbon treatment process for automatic sorting of domestic waste and resource recycling according to claim 1 , wherein, during the initial screening, the control unit acquires the image of the domestic waste captured by the image acquisition device. 3 . The actual contour curve Q of the item, compare Q with the preset contour curve Q0 of the grabbed object, and calculate the contour curve difference △Q to determine whether to grab the item, set, △Q=|Q-Q0|;

所述控制单元还设置第一轮廓曲线差值△Q1和第二轮廓曲线差值△Q2，其中，△Q1＜△Q2；The control unit further sets the first contour curve difference value ΔQ1 and the second contour curve difference value ΔQ2, where ΔQ1<ΔQ2;

当△Q≤△Q1时，所述控制单元判定轮廓曲线差值符合标准，所述控制单元则控制抓取部对该物品进行预抓取；When ΔQ≤ΔQ1, the control unit determines that the difference between the contour curves meets the standard, and the control unit controls the grasping part to pre-grasp the item;

当△Q1≤△Q≤△Q2时，所述控制单元判定需要结合物品形变量以对物品是否符合抓取标准进行二次判定；When ΔQ1≤ΔQ≤ΔQ2, the control unit determines that it is necessary to combine the amount of deformation of the item to perform a secondary judgment on whether the item meets the grasping standard;

当△Q＞△Q0时，所述控制单元判定轮廓曲线差值不符合标准，所述控制单元则不对该物品进行预抓取。When ΔQ>ΔQ0, the control unit determines that the difference between the contour curves does not meet the standard, and the control unit does not pre-grab the item.

3.根据权利要求2所述的生活垃圾自动分选和资源循环的低碳处理工艺，其特征在于，所述控制单元还预设标准形变量W0，当所述抓取部对物品进行预抓取且所述控制单元需要根据物品形变量以对物品是否符合抓取标准进行二次判定时，所述控制单元获取位移传感器测得的物品实际形变量W、将W与预设标准形变量W0进行比对并根据比对结果以再次确定预抓取物品是否符合标准；3 . The low-carbon treatment process for automatic sorting of domestic waste and resource recycling according to claim 2 , wherein the control unit also presets a standard deformation amount W0 , when the grasping part pre-grabs the item. 4 . When the control unit needs to make a secondary judgment on whether the item meets the grasping standard according to the deformation amount of the item, the control unit obtains the actual deformation value W of the item measured by the displacement sensor, and compares W with the preset standard deformation value W0. Make a comparison and re-determine whether the pre-fetched item meets the standard according to the comparison result;

当W≤W0时，所述控制单元判定物品形变量符合标准，所述控制单元控制所述抓取部对物品进行抓取；When W≤W0, the control unit determines that the deformation amount of the item meets the standard, and the control unit controls the grabbing part to grab the item;

当W＞W0时，所述控制单元判定物品形变量不符合标准，所述控制单元不对物品进行抓取。When W>W0, the control unit determines that the deformation amount of the item does not meet the standard, and the control unit does not grab the item.

4.根据权利要求3所述的生活垃圾自动分选和资源循环的低碳处理工艺，其特征在于，所述控制单元还预设有材料硬度E0，在对物品抓取进行二次判定时，所述控制单元获取实际物品材料硬度E并根据实际材料硬度E对预设标准物品形变量进行修正，所述控制单元将修正后的预设标准物品形变量记为R0’，设定R0’=（1-（E/E0））×R0。4. The low-carbon treatment process for automatic sorting of domestic waste and resource recycling according to claim 3, characterized in that, the control unit is also preset with a material hardness E0, and when a secondary judgment is performed on the grabbing of items, The control unit acquires the actual item material hardness E and corrects the preset standard item deformation amount according to the actual material hardness E, the control unit records the corrected preset standard item deformation amount as R0', and sets R0'= (1-(E/E0))×R0.

5.根据权利要求4所述的生活垃圾自动分选和资源循环的低碳处理工艺，其特征在于，所述控制单元还设置有最大抓取物品数量Amax，在进行物品抓取时，所述控制单元获取实际抓取物品数量A并将A与最大抓取物品数量Amax进行比对；5. The low-carbon treatment process for automatic sorting of domestic waste and resource recycling according to claim 4, wherein the control unit is further provided with a maximum number of grabbed items Amax, and when grabbing items, the The control unit obtains the actual number of grabbed items A and compares A with the maximum grabbed item quantity Amax;

当A≤Amax时，所述控制单元判定抓取物品数量符合标准并不对输送装置移动速度进行调节；When A≤Amax, the control unit determines that the number of grabbed items meets the standard and does not adjust the moving speed of the conveying device;

当A＞Amax时，所述控制单元判定抓取物品数量不符合标准并对输送装置移动速度进行调节。When A>Amax, the control unit determines that the number of grabbed items does not meet the standard and adjusts the moving speed of the conveying device.

6.根据权利要求5所述的生活垃圾自动分选和资源循环的低碳处理工艺，其特征在于，当所述控制单元判定需要对所述输送装置的移动速度进行调节时，所述控制单元将调节后的输送装置移动速率记为V，设定V=V0×（1-（Amax/A））,其中，V0为预设输送装置移动速率。6 . The low-carbon treatment process for automatic sorting of domestic waste and recycling of resources according to claim 5 , wherein when the control unit determines that the moving speed of the conveying device needs to be adjusted, the control unit The adjusted moving speed of the conveying device is recorded as V, and V=V0×(1-(Amax/A)), where V0 is the preset moving speed of the conveying device.

7.根据权利要求6所述的生活垃圾自动分选和资源循环的低碳处理工艺，其特征在于，所述控制单元还设置有输送装置移动速率最小值Vmin，当所述控制单元完成对所述输送装置的移动速率的调节时，所述控制单元将调节后的输送装置的移动速率V与输送装置移动速率最小值Vmin比对，当V≥Vmin时，所述控制单元判定所述输送装置移动速率符合标准并将输送装置移动速率调节至对应值；当V＜Vmin时，所述控制单元判定所述输送装置移动速率符合标准并降低破袋机的破袋速率。7. The low-carbon treatment process for automatic sorting of domestic waste and resource recycling according to claim 6, wherein the control unit is further provided with a minimum value Vmin of the moving speed of the conveying device, when the control unit completes the When adjusting the moving speed of the conveying device, the control unit compares the adjusted moving speed V of the conveying device with the minimum value Vmin of the moving speed of the conveying device, and when V≥Vmin, the control unit determines that the conveying device The moving rate conforms to the standard and adjusts the moving rate of the conveying device to a corresponding value; when V<Vmin, the control unit determines that the moving rate of the conveying device conforms to the standard and reduces the bag breaking rate of the bag breaker.

8.根据权利要求7所述的生活垃圾自动分选和资源循环的低碳处理工艺，其特征在于，所述控制单元还预设标准物品完整度R0，当所述抓取部对物品进行抓取时，所述控制单元获取所述图像获取装置拍摄的物品图像以计算物品实际完整度R，计算完成后，所述控制单元将物品实际完整度与预设标准完整度R0进行比对；8 . The low-carbon treatment process for automatic sorting of domestic waste and recycling of resources according to claim 7 , wherein the control unit further presets a standard item integrity R0 . When the grabbing part grabs the item. 9 . When the time is taken, the control unit acquires the image of the item captured by the image acquisition device to calculate the actual integrity R of the item, and after the calculation is completed, the control unit compares the actual integrity of the item with the preset standard integrity R0;

所述预设标准物品完整度R0包括，第一标准物品完整度R1和第二标准物品完整度R2，其中，R1＜R2；The preset standard article integrity R0 includes a first standard article integrity R1 and a second standard article integrity R2, where R1<R2;

当R＜R1时，所述控制单元判定所述物品完整度不符合标准并放弃对该物品的抓取；When R<R1, the control unit determines that the integrity of the item does not meet the standard and abandons the grabbing of the item;

当R1≤R＜R2时，所述控制单元判定所述物品完整度符合标准并将该物品标记为第一完整度物品；When R1≤R<R2, the control unit determines that the integrity of the item meets the standard and marks the item as a first integrity item;

当R≥R2时，所述控制单元判定所述物品完整度符合标准，并将该物品标记为第二完整度物品。When R≧R2, the control unit determines that the integrity of the item meets the standard, and marks the item as a second integrity item.