CN112058692A - Multistage ore dressing production line - Google Patents
Multistage ore dressing production line Download PDFInfo
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- CN112058692A CN112058692A CN201910499873.4A CN201910499873A CN112058692A CN 112058692 A CN112058692 A CN 112058692A CN 201910499873 A CN201910499873 A CN 201910499873A CN 112058692 A CN112058692 A CN 112058692A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 38
- 229910052500 inorganic mineral Inorganic materials 0.000 claims abstract description 34
- 239000011707 mineral Substances 0.000 claims abstract description 34
- 238000009827 uniform distribution Methods 0.000 claims abstract description 29
- 238000012216 screening Methods 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims description 8
- 239000006185 dispersion Substances 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 7
- 239000012535 impurity Substances 0.000 description 26
- 238000000034 method Methods 0.000 description 15
- 238000000926 separation method Methods 0.000 description 12
- 238000005457 optimization Methods 0.000 description 6
- 239000002184 metal Substances 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
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- 230000007613 environmental effect Effects 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 3
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- 238000003723 Smelting Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
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- 238000007726 management method Methods 0.000 description 1
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- 239000007769 metal material Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
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- 239000002699 waste material Substances 0.000 description 1
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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
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
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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
- B07C5/36—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
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Abstract
The invention relates to a multistage mineral processing production line which comprises a first-stage conveying unit, a second-stage conveying unit, a third-stage conveying unit and a power unit, wherein the first-stage conveying unit, the second-stage conveying unit and the third-stage conveying unit are sequentially connected through a conveying belt; a blanking unit is arranged at the front end of the first-stage conveying unit and used for receiving ore with screening function; the power unit provides power for the production line; arranging a machine vision recognition unit on the second-stage conveying unit and the third-stage conveying unit; a mechanical arm grabbing unit is arranged on the second-stage conveying unit; the second-stage conveying unit is provided with uniform distribution units; and a tail end screening unit is arranged at the tail end of the third-stage conveying unit, receives a control command, performs telescopic motion, and pushes the target ore down from the third-stage conveying unit. The invention meets the requirements of the metallurgical industry in China, improves the high-efficiency utilization rate of mineral resources in China, reduces the production cost of the metallurgical industry in China and promotes the further development of the overall economic benefit of the metallurgical industry in China.
Description
Technical Field
The invention relates to the field of mineral separation of mining stones, in particular to a multistage mineral separation production line.
Background
Mineral processing is one of important process links in the industrial field, only high-quality metal ores are selected, so that high-quality metal materials can be produced more efficiently, otherwise, because more ores with higher impurity content directly influence the metallographic structure components of the smelted metal, the material performance is greatly reduced, and products produced by using the ores as raw materials cannot meet the application requirements in the high-precision field, so that the method is not beneficial to the development process of the whole industry of China to a higher level, the waste of ore resources is caused, the environmental protection and the efficient utilization of energy are not facilitated, the cost of a mineral factory for environmental management and energy purchasing is increased, the economic benefit is reduced, and the national concept of green development and precise development of China is not met.
At present, the high-efficiency utilization rate and the environmental protection of non-renewable energy sources are highly regarded by China, but the mineral separation technology in China has certain defects compared with developed countries, so that the utilization rate of mineral resources in China is low, the mining cost is high, the environmental pollution is serious, and the market economic benefit is poor. In order to promote the further development of the mineral separation technology in China and enable mineral resources in China to be utilized more efficiently, a batch of production lines capable of accurately optimizing mineral separation is urgently needed in China.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multistage mineral separation production line to meet the requirements of the metallurgical industry in China, improve the high-efficiency utilization rate of mineral resources in China, reduce the production cost of the metallurgical industry in China and promote the further development of the overall economic benefit of the metallurgical industry in China.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a multi-stage mineral processing production line comprises a first-stage conveying unit 200, a second-stage conveying unit 300, a third-stage conveying unit 500 and a power unit 400, wherein the first-stage conveying unit 200, the second-stage conveying unit 300 and the third-stage conveying unit 500 are sequentially connected through a conveying belt; the blanking unit 100 is arranged at the front end of the first-stage conveying unit 200 and used for receiving ore with screening function; the power unit 400 provides power for the production line; the machine vision recognition unit 600 is arranged on the second-stage conveying unit 300 and the third-stage conveying unit 500; a robot grasping unit 700 is provided on the second-stage conveying unit 300; the second-stage conveying unit 300 is provided with uniform distribution units 800; and a tail end screening unit is arranged at the tail end of the third-stage conveying unit 500, receives a control command, performs telescopic motion, and pushes the target ore down from the third-stage conveying unit 500.
The power unit 400 is installed at one side of the blanking unit 100, and the source power provided by the three-phase asynchronous motor at one end of the first-stage conveying unit 200 is transmitted from the first-stage conveying unit 200 to the second-stage conveying unit 300 and the third-stage conveying unit 500.
The machine vision recognition unit 600 is a monocular camera including
The first-stage machine vision recognition unit 601 is arranged on one side, close to the first-stage conveying unit 100, of the second-stage conveying unit 300, and used for collecting ore images conveyed from the first-stage conveying unit 100 and sending the ore images to an upper computer;
the second-stage machine vision recognition unit 602 is arranged on one side, close to the third-stage conveying unit 500, of the second-stage conveying unit 300, collects the ore images passing through the uniform distribution unit 800 and sends the ore images to an upper computer;
and the third-stage machine vision recognition unit 603 is arranged on one side, close to the second-stage conveying unit 300, of the third-stage conveying unit 500, collects the ore image in the third-stage conveying unit 500 and sends the ore image to the upper computer.
The robot arm gripping unit 700 is a six-degree-of-freedom robot arm, including: a first-stage mechanical arm grabbing unit 701 and a second-stage mechanical arm grabbing unit 702;
the first-stage mechanical arm grabbing unit 701 is arranged between the first-stage machine vision recognition unit 601 and the uniform distribution unit 800, receives a control instruction, and grabs and separates ores which do not pass through the uniform distribution unit 800 on the second-stage conveying unit 300;
the second-stage mechanical arm grabbing unit 702 is arranged on the uniform distribution unit 800 on the second-stage conveying unit 300, receives a control instruction, and grabs and separates ores passing through the uniform distribution unit 800.
The uniform distribution unit 800 comprises a uniform distribution auger 801 and uniform distribution baffles 802, and ores on the second-stage conveying unit 300 are gathered by the uniform distribution auger 801 and then conveyed to the third-stage conveying unit 500 through the uniform distribution baffles 802.
The first stage transporting unit 200 includes: first level bed frame 201, first level area unit check belt 202, first level unit check belt 202 is the belt that evenly sets up a plurality of check and keep off for carry out dispersion treatment to the ore.
The second-stage conveying unit 300 includes a first-stage slip sheet 301, a second-stage belt 302, and a second-stage base frame 303.
The third-stage conveying unit 500 comprises a second-stage material sliding plate 501, a second-stage belt unit grid belt 502 and a third-stage base frame 503, wherein the second-stage belt unit grid belt 502 is a belt evenly provided with a plurality of grid blocks and used for carrying out dispersion treatment on ores.
The invention has the following beneficial effects and advantages:
1. according to the invention, through multi-stage optimization of the ores, the ores with high impurity rate are effectively removed from the high-quality ores, and the metal smelting quality is favorably improved.
2. The invention can realize automatic ore dressing, liberate people from heavy physical labor, reduce the labor cost of a mineral plant, simultaneously is beneficial to reducing the cost of controlling environmental pollution and energy consumption of the mineral plant, and obviously improves the overall economic benefit level of the mineral plant.
3. The belt of the first-stage conveying unit is divided into the unit lattices, so that ores to be sorted falling from the blanking unit can be dispersed, and the difficulty in later-stage sorting caused by stacking of the ores is prevented; the second level conveying unit is provided with the uniform distribution units, so that ores are collected, and the ores are conveniently sorted in a single quantity mode.
4. According to the invention, the uniformly distributed auger is utilized to smoothly convey ores to the second-stage identification unit, so that the ores are prevented from being stacked on two sides of the uniformly distributed baffle plate to cause burden on a production line, and the mineral separation capacity of the whole mineral separation production line is improved; the belt of the third-stage mineral separation unit is divided into the unit lattices, and only one ore is ensured in each unit lattice in practical application, so that single-point analysis of the ore is facilitated, the precision of the whole mineral separation system is improved, and the ore with higher impurity rate in the path is pushed down from the conveying unit by using the hydraulic oil cylinder.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a perspective view of the multi-stage mineral processing line structure of the present invention;
FIG. 3 is a schematic diagram of the second stage delivery unit of the present invention;
FIG. 4 is a schematic structural view of a third stage conveying unit of the present invention;
FIG. 5 is a diagram of the Smith-fuzzy PID control architecture of the present invention;
fig. 6 is a flow chart of the working process of the multi-stage mineral processing production line of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The use of the terms "front," "back," "left," "right," and similar designations herein is for purposes of illustration and does not represent a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 to fig. 4, the multi-stage ore dressing production line includes:
the blanking unit 100, the first-stage conveying unit 200, the second-stage conveying unit 300, the third-stage conveying unit 500, the power unit 400, the machine vision recognition unit 600, the mechanical arm grabbing unit 700, the uniform distribution unit 800 and the tail end screening unit 900. Wherein the first stage conveying unit 200 includes: a base frame 201 and a belt with unit cells 202. A second stage delivery unit 300 comprising: a first-stage material sliding plate 301, a belt 302 and a base frame 303. A tertiary transport unit 500 comprising: a second-stage material sliding plate 501 with a unit cell belt 502 and a base frame 503. The power unit 400 is driven by chain wheels to realize the transmission of each level of conveying units. The machine vision recognition unit 600 includes: a first stage machine vision recognition unit 601, a second stage machine vision recognition unit 602, and a third stage machine vision recognition unit 603. The robot grasping unit 700 includes: a first-stage robot gripping unit 701 and a second-stage robot gripping unit 702. The uniform distribution unit 800 includes: a uniform distribution auger 801 and a uniform distribution baffle 802. The end screening unit 900 is a hydraulic cylinder and is used for receiving a control instruction, realizing telescopic action and pushing down ores with high impurity content from the third-stage conveying unit 500.
The ore to be selected falls into the first-stage conveying unit 200 through the blanking unit 100, and the first-stage conveying unit is provided with a belt 202 for dividing cells, so that the ore in the blanking unit 100 is dispersed when entering the first-stage conveying unit 200, the ore is prevented from being stacked together too densely, and the subsequent grade of the ore is conveniently and preferably graded. The blanking unit 100 is closer to the first-stage conveying unit 200, so that the ore to be sorted of the blanking unit 100 can be prevented from entering the first-stage conveying unit 200 to cause large impact force. The belt-divided cells of the first stage conveying unit 200 help to convey the ore to be sorted to a high place.
The first-stage conveying unit 200 conveys ores to the second-stage conveying unit 300 through the first-stage material sliding plate 301, and the impact of the ores on the second-stage conveying unit 300 can be effectively relieved by adopting the mode of the material sliding plate 301. The cell is not divided to second level conveying unit 300's conveyor belt 302, be favorable to tiling the ore that will be selected, be favorable to first order machine vision identification unit 601 to carry out the identification analysis to the ore, mark the higher ore of trash content rate, and feed back the position information who marks the higher ore of trash content rate to control system, so that control system control first order arm snatchs unit 701 and snatchs the separation to the higher ore of trash content rate, thereby accomplish first order ore preferred.
Because there is great time delay in the mechanical arm snatching, can lead to some ore that contains the miscellaneous rate higher to miss to sort, consequently carry out the letter sorting for the second time on second level conveying unit 300 to install equipartition unit 800 on second level conveying unit 300, equipartition screw feeder 801 is the ore that will distribute in both sides, and progressively carry the intermediate position, and the baffle 802 of equipartition unit is convenient for convert dispersed ore into the linear state of concentrating. In a linear concentration state, the ore enters the second-stage machine vision recognition unit 602, the ore is screened and recognized again, the position of the ore with a high impurity content is calibrated, and the calibrated ore is grabbed and separated by the second-stage mechanical arm grabbing unit 702.
The second-stage conveying unit 300 conveys ores through the second-stage material sliding plate 501 to the third-stage conveying unit 500. The belt 502 of the third stage conveying unit 500 divides the cells for receiving ore and ensures that each cell carries one ore. The third-stage conveying unit 500 conveys the ores to the third-stage machine vision recognition unit 603, the third-stage machine vision recognition unit 603 performs optimization on the ores again, position information of the ores with high impurity rate is calibrated, the information is fed back to a control system, when the ores with high impurity rate reach the final-stage screening unit 900, the control system controls the oil cylinders of the ores to stretch out, and the ores with high impurity rate are pushed down from the third-stage conveying unit 500.
The power unit 400 is driven by a chain, and transmits the source power provided by a three-phase asynchronous motor arranged at one end of the first-stage conveying unit 200 at one side of the blanking unit 100 from the first-stage conveying unit 200 to the second-stage conveying unit 300 and the third-stage conveying unit 500. The speed of the multi-stage mineral processing production line is convenient to control by adopting one source power.
FIG. 5 is a diagram of a Smith-fuzzy PID control structure of the invention, because the traditional PID has the characteristics of large overshoot, delay and uncertainty, which may bring adverse effect to the speed control of each level of the conveying unit, the invention adopts the Smith-fuzzy PID control method to control the speed of each level of the conveying unit. The speed control system has better robustness and adaptability.
According to the control method of the multi-stage ore dressing production line, the linear speed of the multi-stage ore dressing production line is controlled by adopting a Smith estimation control method and a fuzzy PID (proportion integration differentiation) combined method, so that the multi-stage conveying unit can be controlled more effectively; when more ores with higher impurity rate are identified, the speed of each level of conveying unit is controlled to be slow, so that the ore can be accurately screened conveniently; when the ore with higher impurity rate is identified to be less, the speed of each level of conveying unit is controlled to be increased, and the operating efficiency of the multi-level mineral processing production line is increased.
The method of the invention is based on Smith-fuzzy PID to control each stage of conveying units of the multi-stage mineral processing production line, and e is set as an allowable speed deviation.
The Smith estimation control reflects the delay controlled quantity to the controller in advance, so that the controller acts in advance, the influence of delay on the system is counteracted in advance at one time, the overshoot is reduced, and the stability of the system is improved. The closed loop control function is as follows:
assuming that the mathematical model of the multi-stage beneficiation line is sufficiently accurate, i.e. Gm(s)＝Gp(s), and τ ═ τmThen there is
In the formula Gc(s) is a controller, Gp(s)e-τsFor controlled objects with delay elements, GmAnd(s) is a controlled object mathematical model.
The Smith estimation control has higher precision requirement on a mathematical model of a controlled object, and the algorithm requirement is not easy to meet in practical engineering application, so that a Smith estimation control system cannot be completely compensated, and the control effect is poor. Therefore, the Smith estimation control method is optimized by combining the fuzzy PID control algorithm.
Real-time speed deviation e and deviation rate e of fuzzy PID control inputcAs input for the fuzzy control, and the fuzzy control output is a PID parameter set value, Kp，Ki，KdThe initial discourse domain is determined for a set of well-tuned PID parameters.
Fig. 6 is a flow chart of the multi-stage mineral processing production line, and the specific flow is as follows, ore to be screened is placed on the first-stage conveying unit 200 through the blanking unit 100, and is conveyed to the second-stage conveying unit 300 through the belt 201 of the first-stage conveying unit. The front end of the second-stage conveying unit is provided with a first-stage machine vision identification unit 601 which is used for identifying passing ores and identifying high-quality ores and ores with high impurity content by utilizing the difference of apparent characteristics of the ores caused by the difference of metal content in the ores. When the conveyed ore reaches the first-stage mechanical arm grabbing unit 701, the first-stage mechanical arm grabbing unit 701 grabs and separates the ore with high impurity rate, and first-stage optimization of the ore is completed. Because the mechanical arm has certain time delay when snatching the ore that contains the miscellaneous rate higher, consequently first order machine vision identification unit discerns when containing miscellaneous rate ore quantity more, feeds back to control system, and control system controls the conveying speed of first order to third level conveying unit and slows down, otherwise if contains miscellaneous rate lower, then controls conveying unit conveying speed at all levels and accelerates. In order to ensure that ore with higher precision is obtained and the precision of the whole beneficiation production line is improved, the second-stage beneficiation is carried out after the first-stage beneficiation. The ore after the first-stage ore dressing passes through the uniform distribution unit 800, so that the ore is changed from a dispersed state to a linear concentrated state, and the ore is more accurately optimized. The ores enter the second-stage machine vision identification unit 602 in a linear concentration state, and after the ores are identified, the second-stage mechanical arm grabbing unit 702 grabs and separates the ores with high impurity rate, so that second-stage optimization is completed. When the second-stage machine vision recognition unit 602 recognizes that the ore with the impurity rate is large in quantity, the ore with the impurity rate is fed back to the control system, the control system controls the conveying speed of the second-stage conveying unit 300 and the third-stage conveying unit 500 to be reduced, and otherwise, if the impurity rate is low, the original conveying speed of each stage is kept. The mechanical arm grabbing possibly has a long rotation period, and through the two-stage mechanical arm grabbing units, part of ore with high impurity content rate is not grabbed, so that the third-stage screening is carried out. The ore enters the third-stage conveying unit 500 through the second-stage conveying unit 300, a plurality of cells are divided on a belt 502 of the third-stage conveying unit, the number of the ore stored in each cell is only one through optimization control of a control system, so that the ore with high impurity rate can be removed more accurately, the third-stage machine vision recognition unit 603 is installed on the third-stage conveying unit 500, and the ore with impurity rate is pushed down from the third-stage conveying unit 500 by the aid of the tail-end screening unit 900 at the tail end of the third-stage conveying unit. The ore is optimized in multiple stages, so that the quality of the ore is guaranteed, and the smelting and purification of subsequent metals are facilitated.
The invention relates to a multi-stage mineral processing production line and a control method thereof, which are used for carrying out multi-stage conveying and multi-stage machine vision identification and screening on ores. The mechanical arm system and the hydraulic oil cylinder are combined into an integral sorting mechanism to sort the ore with higher impurity rate. The invention has good feasibility and practical application value, the whole multi-stage mineral processing production line adopts a method combining a Smith estimation control method and fuzzy PID to control the conveying speed of each stage of conveying unit, so that the multi-stage mineral processing production line can carry out automatic speed control according to the quantity of ores with higher impurity rate, thereby improving the precision and the production efficiency of the mineral processing production line. The mechanical arm system is controlled by the sliding mode, so that the robustness of the mechanical arm system is improved, and the movement track for sorting ores with high impurity content can be stably realized by the mechanical arm system.
According to the invention, a dynamic tracking method is utilized to perform local dynamic tracking on impurity ores calibrated among machine vision identification units at all levels, and the ore position information with higher impurity content rate is fed back to the control system, so that the control system controls the mechanical arm grabbing unit and the final screening unit to sort the ores with higher impurity content rate according to the actual situation.
The mechanical arm grabbing unit is controlled by the sliding film, so that the motion trail of the mechanical arm system is close to an ideal motion trail, the mechanical arm system keeps running stably, the space motion efficiency of the mechanical arm system is improved, the time for sorting impurity ores is saved, and the sorting speed and the sorting precision of the whole production line are improved.
The multi-stage mineral separation production line is easy to maintain and convenient to install, and has the characteristics of high screening precision, excellent self-adaptability and strong reliability. Makes up the defects in the mineral optimization of China, is beneficial to the promotion of the whole metallurgical industry of China and promotes the new process of green and healthy development of the metallurgical industry of China.
Claims (8)
1. A multi-stage mineral processing production line comprises a first-stage conveying unit (200), a second-stage conveying unit (300), a third-stage conveying unit (500) and a power unit (400), wherein the first-stage conveying unit (200), the second-stage conveying unit (300) and the third-stage conveying unit (500) are sequentially connected through a conveying belt; a blanking unit (100) is arranged at the front end of the first-stage conveying unit (200) and is used for receiving ore with screening function; the power unit (400) provides power for the production line; the machine vision recognition unit (600) is arranged on the second-stage conveying unit (300) and the third-stage conveying unit (500); a robot arm grabbing unit (700) is arranged on the second-stage conveying unit (300); the second-stage conveying unit (300) is provided with uniform distribution units (800); and a tail end screening unit is arranged at the tail end of the third-stage conveying unit (500), receives a control command, performs telescopic motion, and pushes the target ore down from the third-stage conveying unit (500).
2. The multi-stage beneficiation production line according to claim 1, characterized in that: the power unit (400) is arranged on one side of the blanking unit (100), and source power provided by a three-phase asynchronous motor at one end of the first-stage conveying unit (200) is transmitted to the second-stage conveying unit (300) and the third-stage conveying unit (500) from the first-stage conveying unit (200).
3. The multi-stage beneficiation production line according to claim 1, characterized in that: the machine vision recognition unit (600) is a monocular camera comprising
The first-stage machine vision recognition unit (601) is arranged on one side, close to the first-stage conveying unit (100), of the second-stage conveying unit (300), and used for collecting ore images conveyed from the first-stage conveying unit (100) and sending the ore images to an upper computer;
the second-stage machine vision recognition unit (602) is arranged on one side, close to the third-stage conveying unit (500), of the second-stage conveying unit (300), collects the ore images passing through the uniform distribution unit (800), and sends the ore images to an upper computer;
and the third-stage machine vision recognition unit (603) is arranged on one side, close to the second-stage conveying unit (300), of the third-stage conveying unit (500), collects the ore image in the third-stage conveying unit (500), and sends the ore image to the upper computer.
4. The multi-stage beneficiation production line according to claim 1, characterized in that: the robot arm gripping unit (700) is a six-degree-of-freedom robot arm comprising: a first-stage mechanical arm grabbing unit (701) and a second-stage mechanical arm grabbing unit (702);
the first-stage mechanical arm grabbing unit (701) is arranged between the first-stage machine vision recognition unit (601) and the uniform distribution unit (800), receives a control instruction, and grabs and separates ores which do not pass through the uniform distribution unit (800) on the second-stage conveying unit (300);
the second-stage mechanical arm grabbing unit (702) is arranged on the uniform distribution unit (800) on the second-stage conveying unit (300), receives a control instruction, and grabs and separates ores passing through the uniform distribution unit (800).
5. The multi-stage beneficiation production line according to any one of claims 1, 3 or 4, characterized in that: the uniform distribution unit (800) comprises a uniform distribution auger (801) and uniform distribution baffles (802), and ores on the second-stage conveying unit (300) are gathered through the uniform distribution auger (801) and then conveyed to the third-stage conveying unit (500) through the uniform distribution baffles (802).
6. The multi-stage beneficiation production line according to claim 1, characterized in that: the first stage conveying unit (200) comprises: first level bed frame (201), first level area cell belt (202), first level cell belt (202) are for evenly setting up the belt that a plurality of check kept off for carry out dispersion treatment to the ore.
7. The multi-stage beneficiation production line according to claim 1, characterized in that: the second-stage conveying unit (300) comprises a first-stage sliding plate (301), a second-stage belt (302) and a second-stage base frame (303).
8. The multi-stage beneficiation production line according to claim 1, characterized in that: the third-level conveying unit (500) comprises a second-level material sliding plate (501), a second-level belt unit grid belt (502) and a third-level base frame (503), wherein the second-level belt unit grid belt (502) is a belt evenly provided with a plurality of grid blocks and used for carrying out dispersion treatment on ores.
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Citations (11)
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