CN114210598B - Chinlon waste silk sorting machine and sorting method thereof - Google Patents
Chinlon waste silk sorting machine and sorting method thereof Download PDFInfo
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- CN114210598B CN114210598B CN202111526068.XA CN202111526068A CN114210598B CN 114210598 B CN114210598 B CN 114210598B CN 202111526068 A CN202111526068 A CN 202111526068A CN 114210598 B CN114210598 B CN 114210598B
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- yarn
- clamping
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- 239000002699 waste material Substances 0.000 title claims abstract description 126
- 238000000034 method Methods 0.000 title claims abstract description 15
- 229920006052 Chinlon® Polymers 0.000 title description 3
- 239000004677 Nylon Substances 0.000 claims abstract description 116
- 229920001778 nylon Polymers 0.000 claims abstract description 116
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000010438 heat treatment Methods 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000002390 adhesive tape Substances 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000011084 recovery Methods 0.000 abstract description 4
- 239000000835 fiber Substances 0.000 description 10
- 229920001220 nitrocellulos Polymers 0.000 description 4
- 238000004064 recycling Methods 0.000 description 4
- 238000009413 insulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000004753 textile Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- 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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- 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
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/04—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a linearly-movable cutting member
- B26D1/06—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a linearly-movable cutting member wherein the cutting member reciprocates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0625—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by endless conveyors, e.g. belts
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention relates to the technical field of nylon waste yarn recovery, in particular to a nylon waste yarn sorting machine and a sorting method thereof, wherein the nylon waste yarn sorting machine comprises two groups of belt conveyors horizontally arranged at intervals, a plurality of groups of cameras for collecting images and a clamping manipulator for clamping the nylon waste yarn, a connecting block is arranged between the two groups of belt conveyors, the top surface of the connecting block is level to the top surface of the belt conveyor, a cutter slot is formed in the top of the connecting block, the cameras are positioned on the left side of the connecting block and are arranged on a rack of the belt conveyor through a telescopic mechanism, and a cutting mechanism is fixedly arranged on the rack of the belt conveyor above the connecting block; the nylon waste yarn sorting machine provided by the invention can realize automatic identification and cutting of dirty sections in the nylon waste yarns, and after the dirty sections in the nylon waste yarns are cut and screened out, qualified nylon waste yarns are sent out, so that the automatic sorting of the nylon waste yarns is realized, the automatic production of the recovered and reused nylon waste yarns is facilitated, and the nylon waste yarn sorting machine is suitable for further popularization and application.
Description
Technical Field
The invention relates to the technical field of nylon waste yarn recovery, in particular to a nylon waste yarn sorting machine and a sorting method thereof.
Background
Recycled fiber yarns are becoming increasingly popular from the beginning of their perception until the use of recycled materials in various textiles, and today the recycling of fibers is becoming very large-scale. In the past, the recycling of natural fibers is only related to the production of low-quality fabrics, but the situation is very different today, as the global resource recycling awareness is continuously popularized and developed, more and more waste fiber resources are recycled and regenerated fibers, the use of the regenerated fibers effectively improves the resource sustainability of textiles, the resource utilization efficiency is effectively improved, global consumers have an important influence on the sustainable development of the resources due to the enthusiasm of the regenerated fibers, and shoppers pay more and more importance to the global resource recycling of the regenerated fibers; with the global recovery standard of GRS of the international regenerated fiber coming out, the regenerated fiber has become one of the important ways of protecting the environment and building a resource-saving society.
In the process of recovering waste silk such as chinlon, the waste silk raw material needs to be screened, and the waste silk with dirt is separated. The existing nylon waste yarn sorting mostly adopts manual sorting, and the sorting process is time-consuming and labor-consuming, which is unfavorable for the automatic production of the recovery and reutilization of the nylon waste yarn.
Disclosure of Invention
In order to solve the problems, the invention provides a nylon waste silk sorting machine and a sorting method thereof.
In order to solve the technical problems, the invention adopts the following technical scheme:
the nylon waste yarn sorting machine comprises two groups of belt conveyors arranged at intervals horizontally, a plurality of groups of cameras used for collecting images and a clamping manipulator used for clamping nylon waste yarns, wherein a connecting block is arranged between the two groups of belt conveyors, two ends of the connecting block are fixed on a frame of the belt conveyors, the top surface of the connecting block is flush with the top surface of the belt conveyors, a cutter slot is formed in the top of the connecting block, the cameras are positioned on the left side of the connecting block and are arranged on the frame of the belt conveyors through telescopic mechanisms, the cutting mechanism is positioned above the connecting block and fixedly arranged on the frame of the belt conveyors and used for cutting the nylon waste yarns, and the clamping manipulator is positioned on the right side of the cutting mechanism;
the cutting mechanism comprises a second connecting frame, a second electric telescopic rod, a lifting fixing plate, cutting knives, guide rods, lifting plates, heating plates, springs and electromagnets, wherein the second connecting frame is arranged on a frame of the belt conveyor, the second electric telescopic rod is fixedly arranged at the top of the second connecting frame, the telescopic ends of the second electric telescopic rod penetrate through the second connecting frame, the telescopic ends of the second electric telescopic rod are fixedly connected with the lifting fixing plate, the middle parts of the lifting fixing plate are penetrated by a plurality of groups of cutting knives, the longitudinal positions of the cutting knives are corresponding to knife grooves, the two sides of each group of cutting knives are respectively fixed with the guide rods, the upper ends of the guide rods penetrate through the second connecting frame, the upper ends of each group of cutting knives are respectively provided with the heating plates, the upper ends of each group of heating plates are respectively and slidably connected with the guide rods at the two sides, the outer sides of the guide rods are respectively sleeved with the springs, the springs are positioned below the lifting plates, the upper sides of each group of the lifting plates are respectively provided with the guide rods, and the electromagnets are respectively arranged on the belt conveyor;
the cameras of each group are respectively the same with the heating plates in number and in one-to-one correspondence.
Further, the conveyer belt on the belt conveyer is white.
Further, the lifting plate is of a double-layer structure, wherein the upper layer is made of steel, and the lower layer is a heat insulation layer.
Preferably, the interval between the two groups of belt conveyors is 2-3cm.
Further, telescopic machanism includes first link, first electric telescopic handle and fixed plate, first link fixed mounting is in belt conveyor's frame, the top fixed mounting of first link has first electric telescopic handle, the lower extreme of first electric telescopic handle runs through the top of first link, the flexible end fixedly connected with fixed plate of first electric telescopic handle, multiunit camera is listed as fixed mounting on the fixed plate.
Further, a groove for installing a cutting knife is formed in the bottom of the heating plate, and the upper end of the cutting knife is inserted into the groove of the heating plate and fixedly connected with the groove through bolts and nuts.
Further, the clamping manipulator comprises a longitudinal screw rod sliding table, a transverse screw rod sliding table, a connecting plate and a clamping mechanism, wherein the longitudinal screw rod sliding table is fixedly arranged on the side part of the belt conveyor through a base, the transverse screw rod sliding table is fixedly arranged on the movable sliding table of the longitudinal screw rod sliding table, and the clamping mechanism is fixedly arranged on the movable sliding table of the transverse screw rod sliding table through the connecting plate.
Further, fixture includes casing, internal thread piece, slider, slide rail, threaded rod, servo motor and clamping jaw, the casing is fixed in the connecting plate bottom, the bottom of casing is equipped with the bar opening, the inside rotation of casing is connected with the threaded rod, install on the outer wall of casing and be used for driving threaded rod pivoted servo motor, threaded rod both ends screw thread is reverse to be set up, threaded rod's both ends respectively threaded connection have the internal thread piece, the inner chamber top of casing is fixed with the slide rail, the equal top of internal thread piece is fixed with the slider, slider and slide rail sliding connection, the lower extreme of internal thread piece all is connected with the clamping jaw, the clamping jaw comprises the plate of both ends mutual articulated, installs the torsional spring between two plates, makes the inside slope certain angle of lower end plate, and angle sensor is installed to the articulated department of two plates for detect the flip angle of lower extreme plate.
Preferably, the inner sides of the clamping jaws are provided with collodion blocks, and the opposite surfaces of the collodion blocks are stuck with adhesive tapes with smooth surfaces.
The invention further provides a waste silk sorting method, which comprises the following steps:
s1: the method comprises the steps that a belt conveyor conveys nylon waste yarns towards a clamping manipulator, and a plurality of groups of cameras shoot images of the nylon waste yarns on the belt conveyor in a regional mode;
s2: respectively analyzing brightness information in each area image of the camera, and judging whether the brightness of the nylon waste yarn in each area image is within a set brightness threshold; if yes, the belt conveyor continuously conveys the nylon waste yarns towards the direction of the clamping manipulator; if not, executing S3;
s3: identifying a starting point and a finishing point of the bright super-threshold value of the nylon waste yarn in the image, taking the starting point as a length distance from a nylon waste yarn conveying camera to a cutter slot by a belt conveyor (at the moment, the starting point of the bright super-threshold value of the nylon waste yarn is just positioned at the cutter slot), stopping conveying by the belt conveyor while cutting by a cutting mechanism to cut off the starting point of the bright super-threshold value of the nylon waste yarn, continuing to convey the nylon waste yarn to the length distance from the starting point to the finishing point of the bright super-threshold value of the nylon waste yarn by the belt conveyor (at the moment, the finishing point of the bright super-threshold value of the nylon waste yarn is just positioned at the cutter slot), stopping conveying by the belt conveyor while cutting by the cutting mechanism to cut off the finishing point of the bright super-threshold value of the nylon waste yarn;
s4: the belt conveyor conveys the nylon waste yarn to the length distance of the clamping manipulator, then the belt conveyor stops conveying, meanwhile, the clamping mechanism on the clamping manipulator moves to the position corresponding to the position of the bright super-threshold camera for identifying the nylon waste yarn, the bright super-threshold camera for identifying the cut nylon waste yarn clamps and puts the cut nylon waste yarn to the outer side of the belt conveyor, and then the belt conveyor continues to convey the nylon waste yarn towards the direction of the clamping manipulator.
The invention has the beneficial effects that:
the nylon waste yarn sorting machine provided by the invention can realize automatic identification and cutting of dirty sections in the nylon waste yarns, and after the dirty sections in the waste yarns are cut and screened out, qualified nylon waste yarns without dirt are sent out, so that the automatic sorting of the nylon waste yarns is realized, the automatic production of the recovered and reused nylon waste yarns is facilitated, and the nylon waste yarn sorting machine is suitable for further popularization and application.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a cutting mechanism according to the present invention;
FIG. 3 is a side view of the cutting mechanism of the present invention;
FIG. 4 is a schematic view of a clamping manipulator according to the present invention;
FIG. 5 is a schematic view of a clamping mechanism;
fig. 6 is a top view of a belt conveyor of the present invention.
The reference designations in the drawings are as follows:
a belt conveyor-1; a joint block-2; a camera-3; a first link-4; a first electric telescopic rod-5; a fixing plate-6; a cutting mechanism-7; clamping a manipulator-8; nylon waste yarn-9; a knife slot-21; a second link-71; a second electric telescopic rod-72; lifting and lowering the fixing plate-73; a cutter-74; guide bar-75; lifting plate-76; a heating plate-77; a spring-78; electromagnet-79; a longitudinal screw rod sliding table-81; a transverse screw sliding table-82; a connecting plate-83; a clamping mechanism-84; a base-85; housing-841; internal thread blocks-842; slider-843; a slide rail-844; threaded rod-845; servo motor-846; jaw-847; collodion cotton block-848.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 6, a nylon waste yarn sorting machine comprises two groups of belt conveyors 1 which are horizontally arranged at intervals, a plurality of groups of cameras 3 for collecting images (wherein the plurality of groups of cameras 3 are uniformly arranged perpendicular to the conveying direction of the belt conveyors 1, the plurality of groups of cameras 3 uniformly divide the belt conveyors 1 into a plurality of areas along the width direction), and a clamping manipulator 8 for clamping the nylon waste yarn, and the interval between the two groups of belt conveyors 1 is 2-3cm, so that the nylon waste yarn is conveniently conveyed. Be provided with joint piece 2 between two sets of belt conveyor 1, the both ends of joint piece 2 are fixed in the frame of belt conveyor 1, and the top surface of joint piece 2 is parallel and level mutually with belt conveyor 1 top surface, and a sword groove 21 has been seted up at the top of joint piece 2, and camera 3 is located the left side of joint piece 2 and installs in the frame of belt conveyor 1 through telescopic machanism, and cutting mechanism 7 is located the top fixed mounting of joint piece 2 in the frame of belt conveyor 1 for cut nylon waste silk 9, and clamping manipulator 8 is located the right side of cutting mechanism 7. Wherein, the conveyer belt on the belt conveyer 1 is white, so as to avoid misjudgment caused when the conveyer belt is dark.
When the nylon yarn waste machine is used, the nylon yarn waste is smoothed into strips and placed on the left belt conveyor 1, the belt conveyor 1 conveys the nylon yarn waste 9 rightwards, in the conveying process, the camera 3 acquires images of the nylon yarn waste 9, when dirt appears on the nylon yarn waste in the images, the belt conveyor 1 conveys the nylon yarn waste to the lower part of the cutting mechanism 7, the cutting mechanism 7 cuts the dirt section of the nylon yarn waste, and then the clamping manipulator 8 clamps the unqualified dirt nylon yarn waste out, so that the qualified nylon yarn waste is sent out from the right side of the belt conveyor 1.
Referring to fig. 1-3, the cutting mechanism 7 includes a second connecting frame 71, a second electric telescopic rod 72, a lifting fixing plate 73, cutting blades 74, a guide rod 75, lifting plates 76, a heating plate 77, springs 78 and electromagnets 79, the second connecting frame 71 is mounted on the frame of the belt conveyor 1, the second electric telescopic rod 72 is fixedly mounted on the top of the second connecting frame 71, the telescopic ends of the second electric telescopic rod 72 penetrate through the second connecting frame 71, the telescopic ends of the second electric telescopic rod 72 are fixedly connected with the lifting fixing plate 73, a plurality of groups of cutting blades 74 penetrate through the middle of the lifting fixing plate 73, the longitudinal positions of the cutting blades 74 correspond to the cutter grooves 21, the guide rods 75 are fixed on two sides of each group of cutting blades 74, the upper ends of the guide rods 75 penetrate through the second connecting frame 71, the heating plates 77 are fixedly mounted on the upper ends of each group of cutting blades 74, the lifting plates 76 are fixedly connected with the guide rods 75 on two sides respectively, the outer sides of the guide rods 75 are sleeved with the springs 78, the electromagnets 79 are mounted on the upper sides of each group of the heating plate 76, and the electromagnets 79 are mounted on the belt conveyor 1. The cameras 3 of each group are respectively the same in number and position with the heating plates 77. The cutting mechanism 7 and the camera 3 are electrically connected with an external control system, and the camera 3 with a corresponding position is associated with the heating plate 77.
In a normal state, the electromagnet 79 is electrified, the lifting plate 76 is adsorbed on the electromagnet 79 and the spring 78 is in a pulled-up state, when a certain camera 3 shoots that the nylon waste yarn in a corresponding area is dirty, the second electric telescopic rod 72 stretches to enable the lifting fixing plate 73 to be pressed on the nylon waste yarn to fix the nylon waste yarn, then the electromagnet 79 corresponding to the position of the camera 3, where the nylon waste yarn is dirty, is powered off, the spring 78 releases the elasticity to drive the corresponding cutting knife 74 to descend to penetrate through the lifting fixing plate 73 and insert into the knife groove 21 to cut the nylon waste yarn, after the cutting is finished, the second electric telescopic rod 72 is recovered and reset, then the electromagnet 79 is electrified again to adsorb the lifting plate 76 to drive the lower end of the corresponding cutting knife 74 to retract into the lifting fixing plate 73, and the spring 78 is recovered to a stretched state; wherein the heating plate 77 is arranged to heat the cutting knife 74 to facilitate the cutting knife 74 to cut off the nylon waste yarn. The arrangement can respectively realize the cutting control of each cutting knife 74 through two electric telescopic rods, thereby reducing the consumption of the electric telescopic rods and the manufacturing cost of the cutting mechanism.
Further, the lifting plate 76 has a double-layer structure, wherein the upper layer is made of steel material, and the lower layer is a heat insulation layer; the upper layer of the lifting plate 76 is made of steel and can attract the electrified electromagnet 79, and the lower layer of the heat insulation layer can prevent the temperature of the heating plate 77 from being transferred to the electromagnet 79 upwards, so that the electromagnet is damaged.
Further, a groove for installing the cutting knife 74 is formed in the bottom of the heating plate 77, and the upper end of the cutting knife 74 is inserted into the groove of the heating plate 77 and fixedly connected with the groove through bolts and nuts; this arrangement facilitates the removal and replacement of the cutting blade 74.
Referring to fig. 1, the telescopic mechanism comprises a first connecting frame 4, a first electric telescopic rod 5 and a fixed plate 6, wherein the first connecting frame 4 is fixedly arranged on a frame of the belt conveyor 1, the first electric telescopic rod 5 is fixedly arranged at the top of the first connecting frame 4, the lower end of the first electric telescopic rod 5 penetrates through the top of the first connecting frame 4, the fixed plate 6 is fixedly connected with the telescopic end of the first electric telescopic rod 5, and a plurality of groups of cameras 3 are fixedly arranged on the fixed plate 6 in a row; the first electric telescopic rod 5 can stretch and retract to drive the camera 3 fixed on the fixed plate 6 to lift, so that the height adjustment and focusing operation of the camera 3 in the using process are convenient.
Referring to fig. 4, the gripping robot 8 includes a longitudinal screw sliding table 81, a transverse screw sliding table 82, a connecting plate 83, and a clamping mechanism 84, wherein the screw sliding table is conventional in the art. The longitudinal screw rod sliding table 81 is fixedly arranged on the side part of the belt conveyor 1 through a base 85, the transverse screw rod sliding table 82 is fixedly arranged on the moving sliding table of the longitudinal screw rod sliding table 81, and the clamping mechanism 84 is fixedly arranged on the moving sliding table of the transverse screw rod sliding table 82 through a connecting plate 83; when a certain camera 3 shoots that the nylon waste yarn in a corresponding area is dirty, after the dirty nylon waste yarn is cut by the cutting mechanism, the clamping mechanism 84 is moved to a corresponding position of the camera 3 for shooting the dirty nylon waste yarn by the clamping manipulator 8 through the transverse screw sliding table 82, then the clamping mechanism 84 is driven by the longitudinal screw sliding table 81 to move to the cut dirty nylon waste yarn, and the nylon waste yarn is clamped up by the clamping mechanism 84 and is moved out of the belt conveyor 1 through the longitudinal screw sliding table 81 and the transverse screw sliding table 82.
Referring to fig. 5, the clamping mechanism 84 includes a housing 841, an internal thread block 842, a sliding block 843, a sliding rail 844, a threaded rod 845, a servo motor 846 and a clamping jaw 847, the housing 841 is fixed at the bottom of the connecting plate 83, a bar-shaped opening is provided at the bottom of the housing 841, the threaded rod 845 is rotatably connected with the housing 841, a servo motor 846 for driving the threaded rod 845 to rotate is mounted on the outer wall of the housing 841, threads at two ends of the threaded rod 845 are reversely arranged, the two ends of the threaded rod 845 are respectively in threaded connection with the internal thread block 842, the sliding rail 844 is fixed at the top of an inner cavity of the housing 841, the sliding block 843 is fixedly provided with the sliding block 843 at the top of the internal thread block 842, the clamping jaw 847 is connected with the lower end of the internal thread block 842, the clamping jaw 847 is composed of plates with two mutually hinged ends, a torsion spring (not shown in the drawing) is mounted between the two plates, the lower end plates are inclined inwards by a certain angle, the torsion spring can provide clamping force for clamping the waste silk, and the waste silk can also drive the clamping jaw 847 to rebound reset. An angle sensor (not shown in the drawing) is installed at the hinge joint of the two plates and used for detecting the turning angle of the lower end plate, and the servo motor 846 stops rotating after the lower end plate turns by a preset angle, so that the clamping jaw 847 can be controlled to provide stable clamping force for the nylon waste yarn. When the clamping mechanism 84 clamps, the servo motor 846 drives the threaded rod 845 to rotate, the threaded rod 845 rotates to drive the internal thread blocks 842 on two sides to move in opposite directions to clamp the nylon waste yarn, and when the angle sensor detects that the lower end plate turns over a preset angle, the servo motor 846 stops rotating to clamp the nylon waste yarn; when the clamping jaw needs to be opened, the servo motor 846 is operated reversely to drive the internal thread block 842 to move to two sides for resetting.
Further, the inner sides of the clamping jaws 847 are respectively provided with a collodion block 848, and adhesive tapes with smooth surfaces are adhered to opposite surfaces of the collodion blocks 848; wherein, the collodion cotton piece 848 can provide clamping force for the nylon waste yarn, and smooth surface adhesive tape attached on opposite surfaces of the collodion cotton piece 848 is favorable for falling down after the nylon waste yarn is released, so that the nylon waste yarn is prevented from being adhered to the collodion cotton piece 848.
The embodiment also discloses a waste silk sorting method, which comprises the following steps:
s1: the method comprises the steps that a belt conveyor 1 conveys nylon waste yarns 9 towards a clamping manipulator 8, and a plurality of groups of cameras 3 shoot images of the nylon waste yarns 9 on the belt conveyor 1 in different areas;
s2: respectively analyzing brightness information in each area image of the camera 3, and judging whether the brightness of the nylon waste yarn 9 in each area image is within a set brightness threshold; if yes, the belt conveyor 1 continues to convey the nylon waste yarn 9 towards the direction of the clamping manipulator 8; if not, S3 is executed (when the nylon waste yarn is stained, the brightness of the nylon waste yarn is changed, and the invention determines whether the nylon waste yarn is stained or not by detecting the brightness value of the nylon waste yarn);
s3: recognizing a starting point and an end point of the bright super-threshold of the nylon yarn waste in the image, taking the starting point as a length distance from a camera 3 to a cutter groove 21 by a belt conveyor 1 (at the moment, the starting point of the bright super-threshold of the nylon yarn waste is just positioned at the cutter groove 21), stopping conveying by the belt conveyor 1 while a cutting mechanism 7 cuts the starting point of the bright super-threshold of the nylon yarn waste, continuing to convey the bright super-threshold of the nylon yarn waste 9 to a length distance from the starting point to the end point of the bright super-threshold of the nylon yarn waste by the belt conveyor 1 (at the moment, the end point of the bright super-threshold of the nylon yarn waste is just positioned at the cutter groove 21), stopping conveying by the belt conveyor 1 while the cutting mechanism 7 cuts the end point of the bright super-threshold of the nylon yarn waste;
s4: the belt conveyor 1 conveys the nylon yarn waste 9 to the length distance from the cutter groove 21 to the clamping manipulator 8, then the belt conveyor 1 stops conveying, meanwhile, the clamping mechanism 84 on the clamping manipulator 8 moves to the position corresponding to the position of the bright super-threshold camera 3 for identifying the nylon yarn waste, the bright super-threshold value of the cut nylon yarn waste is clamped and put outside the belt conveyor 1, then the belt conveyor 1 continues to convey the nylon yarn waste 9 towards the clamping manipulator 8, and the qualified nylon yarn waste without dirt is sent out from the right side of the belt conveyor 1, and the cycle is performed.
The length distance from the camera 3 to the cutter groove 21 and the length distance from the cutter groove 21 to the clamping manipulator 8 are fixed distances on the equipment, and can be obtained through measurement.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a nylon waste silk sorting machine, includes two sets of belt conveyor (1) that horizontal interval set up, is used for gathering multiunit camera (3) and is used for centre gripping nylon waste silk clamp and get manipulator (8), its characterized in that is provided with between two sets of belt conveyor (1) and links up piece (2), the top surface that links up piece (2) is parallel and level with belt conveyor (1) top surface, a sword groove (21) has been seted up at the top of linking up piece (2), camera (3) are located the left side of linking up piece (2) and install in the frame of belt conveyor (1) through telescopic machanism, and cutting mechanism (7) are located the top fixed mounting of linking up piece (2) in the frame of belt conveyor (1) for cut nylon waste silk (9), clamp and get manipulator (8) are located the right side of cutting mechanism (7);
the cutting mechanism (7) comprises a second connecting frame (71), a second electric telescopic rod (72), a lifting fixing plate (73), cutting knives (74), guide rods (75), lifting plates (76), heating plates (77), springs (78) and electromagnets (79), wherein the second connecting frame (71) is arranged on a frame of the belt conveyor (1), the second electric telescopic rod (72) is fixedly arranged at the top of the second connecting frame (71) and the telescopic ends of the second electric telescopic rod (72) penetrate through the second connecting frame (71), the telescopic ends of the second electric telescopic rod (72) are fixedly connected with the lifting fixing plate (73), a plurality of groups of cutting knives (74) are fixedly arranged in the middle of the lifting fixing plate (73), the longitudinal positions of the cutting knives (74) correspond to those of the knife grooves (21), the guide rods (75) are fixedly arranged on two sides of each group of cutting knives (74), the upper ends of the guide rods (75) penetrate through the second connecting frame (71), the upper ends of each group of cutting knives (74) are respectively provided with the guide rods (77), the upper heating plates (76) are fixedly connected with the lifting fixing plates (76) on two sides of each group of the heating plates (76), springs (78) are sleeved on the outer sides of the guide rods (75), the springs (78) are located below the lifting plates (76), electromagnets (79) are arranged above the lifting plates (76) of each group, and the electromagnets (79) are fixedly arranged on the belt conveyor (1);
the cameras (3) of each group are respectively the same as the heating plates (77) in number and in one-to-one correspondence with the positions;
the clamping manipulator (8) comprises a longitudinal screw rod sliding table (81), a transverse screw rod sliding table (82), a connecting plate (83) and a clamping mechanism (84), wherein the longitudinal screw rod sliding table (81) is fixedly arranged on the side part of the belt conveyor (1) through a base (85), the transverse screw rod sliding table (82) is fixedly arranged on the moving sliding table of the longitudinal screw rod sliding table (81), and the clamping mechanism (84) is fixedly arranged on the moving sliding table of the transverse screw rod sliding table (82) through the connecting plate (83);
clamping mechanism (84) include casing (841), internal thread piece (842), slider (843), slide rail (844), threaded rod (845), servo motor (846) and clamping jaw (847), casing (841) is fixed in connecting plate (83) bottom, the bottom of casing (841) is equipped with the bar opening, the inside rotation of casing (841) is connected with threaded rod (845), install on the outer wall of casing (841) and be used for driving threaded rod (845) pivoted servo motor (846), threaded rod (845) both ends screw thread reverse arrangement, threaded rod (845) both ends respectively threaded connection have internal thread piece (842), the inner chamber top of casing (841) is fixed with slide rail (844), the equal top of internal thread piece (842) is fixed with slider (843), slider (843) and slide rail (844) sliding connection, the lower extreme of internal thread piece (842) all is connected with clamping jaw (847), clamping jaw (847) are by the plate each other articulated constitution in both ends, and the hinge joint of both ends has the plate that detects the torsional spring is used for detecting the plate and the plate is installed down.
2. A nylon waste sorter according to claim 1, characterized in that the conveyor belt on the belt conveyor (1) is white.
3. The nylon scrap sorter of claim 1 wherein the lifter plate (76) is of a double layer construction wherein the upper layer is of steel and the lower layer is of a thermally insulating layer.
4. A nylon scrap sorter according to claim 1, characterized in that the spacing between the two belt conveyors (1) is 2-3cm.
5. The nylon waste silk sorting machine according to claim 1, characterized in that the telescopic mechanism comprises a first connecting frame (4), a first electric telescopic rod (5) and a fixed plate (6), the first connecting frame (4) is fixedly installed on a frame of the belt conveyor (1), the top of the first connecting frame (4) is fixedly provided with the first electric telescopic rod (5), the lower end of the first electric telescopic rod (5) penetrates through the top of the first connecting frame (4), the telescopic end of the first electric telescopic rod (5) is fixedly connected with the fixed plate (6), and a plurality of groups of cameras (3) are fixedly installed on the fixed plate (6) in a column mode.
6. The nylon waste silk sorting machine according to claim 1, wherein a groove for installing a cutting knife (74) is formed in the bottom of the heating plate (77), and the upper end of the cutting knife (74) is inserted into the groove of the heating plate (77) and fixedly connected with the groove through bolts and nuts.
7. The nylon waste silk sorting machine according to claim 1, wherein the inner sides of the clamping jaws (847) are respectively provided with a collodion block (848), and adhesive tapes with smooth surfaces are adhered to opposite surfaces of the collodion blocks (848).
8. Waste silk sorting method of a nylon waste silk sorting machine according to one of claims 1-7, characterized by comprising the steps of:
s1: the method comprises the steps that a belt conveyor (1) conveys nylon waste yarns (9) towards a clamping manipulator (8), and a plurality of groups of cameras (3) shoot images of the nylon waste yarns (9) on the belt conveyor (1) in different areas;
s2: respectively analyzing brightness information in each area image of the camera (3), and judging whether the brightness of the nylon waste yarn (9) in each area image is within a set brightness threshold value; if yes, the belt conveyor (1) continuously conveys the nylon waste yarn (9) towards the clamping manipulator (8); if not, executing S3;
s3: identifying a starting point and a finishing point of the bright super-threshold value of the nylon waste yarn in the image, taking the starting point as a length distance from a conveying camera (3) of the nylon waste yarn (9) to a cutter groove (21) of a belt conveyor (1), stopping conveying by the belt conveyor (1) while cutting by a cutting mechanism (7) to cut off the starting point of the bright super-threshold value of the nylon waste yarn, continuing to convey the starting point to the finishing point of the bright super-threshold value of the nylon waste yarn by the belt conveyor (1), stopping conveying by the belt conveyor (1) while cutting by the cutting mechanism (7) to cut off the finishing point of the bright super-threshold value of the nylon waste yarn;
s4: the belt conveyor (1) conveys the nylon waste yarn (9) to the length distance from the cutter groove (21) to the clamping manipulator (8), then the belt conveyor (1) stops conveying, meanwhile, the clamping mechanism (84) on the clamping manipulator (8) moves to the position corresponding to the position where the nylon waste yarn brightness super-threshold camera (3) is identified, the cut nylon waste yarn brightness super-threshold is clamped and put outside the belt conveyor (1), and then the belt conveyor (1) continues to convey the nylon waste yarn (9) towards the direction of the clamping manipulator (8).
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| CN114939534A (en) * | 2022-04-19 | 2022-08-26 | 福建永荣锦江股份有限公司 | Sorting equipment and method for waste nylon yarns |
| CN117187992B (en) * | 2023-11-06 | 2024-01-23 | 江苏阿代尔新材料科技有限公司 | Antistatic regenerated polyester production control system |
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