CN206046501U - The sorting arrangement applied in Ore sorting process - Google Patents
The sorting arrangement applied in Ore sorting process Download PDFInfo
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- CN206046501U CN206046501U CN201620919401.1U CN201620919401U CN206046501U CN 206046501 U CN206046501 U CN 206046501U CN 201620919401 U CN201620919401 U CN 201620919401U CN 206046501 U CN206046501 U CN 206046501U
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Abstract
The utility model discloses the Ore of formulation can all be selected, effectively replace and manually pick up cash by the sorting arrangement applied in a kind of Ore sorting process, this utility model simple structure, motility height.During use, this utility model is identified to article by image acquisition device and image recognizer, and gas thick stick, motor, the first motor and the second motor are controlled by processor, automatic identification spoil and wooden unit are realized, and completes the sorting to spoil and wooden unit.Production efficiency is improve, the amount of labour is reduced, unfailing performance is good.
Description
Technical field
This utility model is related to Ore sorting technology field, is related to a kind of based on image recognition technology and the ore deposit of mechanical arm
Stone sorting process, is particularly well-suited to the industries such as coal.
Background technology
China is an energy big country, can produce substantial amounts of useless mineral in Ore production process, such as spoil, in order to
The resource not wasted, it is often necessary to which the lump ore after to crushing carries out picking up cash sorting.And present cash mode of picking up is mainly people
Work is operated, and such as existing coal picking technique is exactly distinguished by human eye, the method for picking by hand.But due to picking up cash car
Between flue dust is big, environment is dirty, noise is big, serious to harm.It is the topmost generation ground of coal preparation plant's occupation disease to pick up cash workshop
One, while manually picking up the high labor intensive of cash, work efficiency is low, and investment is big, so this technology pattern is also satisfied all the time
Denounced.
The content of the invention
The purpose of this utility model is that to solve the above problems and provides one kind based on image recognition technology and machine
The coal separation technique of tool arm, solves the problems, such as that the mainly artificial inspection cash of cash mode is picked up by current coal preparation plant.
In order to solve the above problems, this utility model provides a kind of technical scheme：Apply in a kind of Ore sorting process
Sorting arrangement, the sorting arrangement includes the mechanical arm with image identification system；
Described image identifying system includes be mutually related image capture module, source images memory module and information transmission mould
Block；
The mechanical arm is connected with controller respectively with image identification system, and mechanical arm is arranged on picks up the upper of cash belt
Side, the image capture module of image identification system are arranged on top, the front of mechanical arm for picking up cash belt.
The mechanical arm concrete structure is：Including base, universal wheel, column, workbox, fixed seat, gas thick stick, push rod,
Rotating shaft, follower lever, driving lever, sliding seat, cross bar, slide rail, pulley, support base, motor, support, connecting seat, bearing, figure
As harvester, image recognizer, processor, the first motor, the second motor, first gear, second gear, the first gripping finger, the
Two gripping fingers and spring；
The lower surface of the base is provided with several universal wheels；
A column is fixedly connected with the upper surface of the base；
A workbox is fixedly connected with the upper surface of the base also；
The middle-end of the column outer surface is fixedly connected with a fixed seat, and the fixed seating is in the right side of column；
The fixed seat upper surface is fixedly connected with a gas thick stick；
On the gas thick stick, axle is connected with a push rod；
One end of the follower lever is connected with the top of column by rotating shaft, and the other end of the follower lever passes through rotating shaft
It is connected with the right side upper end of sliding seat；
One end of the driving lever is connected with the top of push rod by rotating shaft, and the other end of the driving lever passes through rotating shaft
It is connected with the right side lower end of sliding seat；
The follower lever and driving lever are parallel；
The left end of the sliding seat is fixedly connected with a cross bar；
The upper and lower surface of the cross bar has been fixedly connected with a slide rail；
The upper and lower end of the support base is connected with a pulley；
The pulley is slidably connected on upper and lower two slide rails respectively；
A motor is fixedly connected with the support base；
The output shaft of the motor is connected with the input shaft of two pulleys by belt simultaneously；
A support is fixedly connected with the side of the support base；
A connecting seat is fixedly connected with the bottom surface of the support；
A bearing is fixedly connected with the bottom surface of the connecting seat；
The left end of the cross bar is fixedly connected with an image acquisition device；
Described image evaluator and processor are fixedly connected with support；
First motor is fixedly connected with the left of the internal stent；
Second motor is fixedly connected with the right side of the internal stent；
First gear and second gear have been movably connected with the bearing；
The output shaft of first motor is connected with the input shaft of first gear by belt；
The output shaft of second motor is connected with the input shaft of second gear by belt；
First gripping finger is fixedly connected with the first gear；
Second gripping finger is fixedly connected with the second gear；
A spring is fixedly connected between first gripping finger and the second gripping finger；
Described image harvester is connected with the signal input part of image recognizer and processor successively by cable；
The signal output part of the processor by cable also with gas thick stick, motor, the first motor and the second motor simultaneously
Row connection.
A casing is provided with outside described image identifying system, and it is rack-mounted in the top for picking up cash belt by frame；It is described
Source images memory module and information transfer module be arranged on casing internal, described image capture module is arranged on casing bottom
Portion.
The main body of the mechanical arm is arranged on the outside for picking up cash belt, is hinged relationship between mechanical arm and main body,
Robot body and image identification system are connected with controller respectively.
The mechanical arm at least provided with a cuff image identification system on cash belt is picked up per bar.
The beneficial effects of the utility model：This utility model simple structure, motility are high, can will be of different sizes in Ore
Spoil is selected, there is provided meet the valuable mineral of industrial requirement.Wherein mechanical arm has multiple degree of freedom, can effectively replace people
Work examines cash.During use, article is identified by image acquisition device and image recognizer, and by processor to gas thick stick, drive
Galvanic electricity machine, the first motor and the second motor are controlled, and realize automatic identification spoil and wooden unit, improve production efficiency, reduce
The amount of labour, unfailing performance are good.Sorting arrangement simple structure used, easy to operate, precision is high, high working efficiency.For row
Image recognition and mechanical arm are combined the full-automatic sorting of realization, are broken by the specific environment and technical requirements in cash workshop
The defect of Traditional Man expelling gangue craft, saves a large amount of manpower, material resources and financial resources, is adapted to each scale ore dressing plant and puts into operation.Mechanical arm
During being applied to ore hand sorting, can both reduce artificial, and the efficiency and accuracy of Ore sorting can have been improved again, can be promoted significantly
The technological progress of Ore industry, improves circumstance, improves the response rate and utilization rate of resource.
Description of the drawings：
This utility model is embodied as and accompanying drawing is described in detail by following.
Fig. 1 is this utility model structural representation.
Fig. 2 is the overall structure diagram of sorting arrangement in this utility model.
1- bases；2- universal wheels；3- columns；4- workboxes；5- fixed seats；6- gas thick sticks；7- push rods；8- rotating shafts；9- is driven
Bar；10- driving levers；11- sliding seat；12- cross bars；13- slide rails；14- pulleys；15- support bases；16- motors；17- supports；
18- connecting seats；19- bearings；20- image acquisition devices；21- image recognizers；22- processors；The first motors of 23-；24- second is electric
Machine；25- first gears；26- second gears；The first gripping fingers of 27-；The second gripping fingers of 28-；29- springs；30- image recognitions system
System；31- controllers；32- mechanical bodies；33- chutes；34- mechanical arms；35- picks up cash belt.
Specific embodiment：
As shown in figure 1, this specific embodiment is employed the following technical solutions：It is a kind of to be based on image recognition technology and mechanical hand
The Ore sorting process of arm, comprises the following steps：After primary dcreening operation, be partly into belt carries out picking up cash, image various Ores
Identifying system will pick up spoil or the differentiation of valuable Ore in cash belt, pass information to controller.Controller control machinery arm
Execution picks action, and the spoil for needing to isolate or valuable Ore are picked by mechanical arm according to recognition result, and by being arranged on
Chute on the outside of mechanical arm is discharged.
Mechanical arm concrete structure with image identification function is：Including base 1, universal wheel 2, column 3, workbox 4,
Fixed seat 5, gas thick stick 6, push rod 7, rotating shaft 8, follower lever 9, driving lever 10, sliding seat 11, cross bar 12, slide rail 13, pulley 14, support
Seat 15, motor 16, support 17, connecting seat 18, bearing 19, image acquisition device 20, image recognizer 21, processor 22, the
One motor 23, the second motor 24, first gear 25, second gear 26, the first gripping finger 27, the second gripping finger 28 and spring 29；
The lower surface of the base 1 is provided with several universal wheels 2；A column 3 is fixedly connected with the upper surface of the base 1；It is described
A workbox 4 is fixedly connected with the upper surface of base 1 also；The middle-end of 3 outer surface of the column is fixedly connected with one admittedly
Reservation 5, the fixed seat 5 are located at the right side of column 3；5 upper surface of the fixed seat is fixedly connected with a gas thick stick 6；The gas
On thick stick 6, axle is connected with a push rod 7；One end of the follower lever 9 is connected with the top of column 3 by rotating shaft 8, described driven
The other end of bar 9 is connected with the right side upper end of sliding seat 11 by rotating shaft 8；One end of the driving lever 10 by rotating shaft 8 with
The top of push rod 7 is connected, and the other end of the driving lever 10 is connected with the right side lower end of sliding seat 11 by rotating shaft 8；Institute
State follower lever 9 and driving lever 10 is parallel；The left end of the sliding seat 11 is fixedly connected with a cross bar 12；The cross bar 12
Upper and lower surface has been fixedly connected with a slide rail 13；The upper and lower end of the support base 15 is connected with a pulley 14；
The pulley 14 is slidably connected on upper and lower two slide rails 13 respectively；One is fixedly connected with the support base 15 and drives electricity
Machine 16；The output shaft of the motor 16 is connected with the input shaft of two pulleys 14 by belt simultaneously；The support base
A support 17 is fixedly connected with 15 side；A connecting seat 18 is fixedly connected with the bottom surface of the support 17；It is described
A bearing 19 is fixedly connected with the bottom surface of connecting seat 18；The left end of the cross bar 12 is fixedly connected with an image acquisition device
20；Described image evaluator 21 and processor 22 are fixedly connected with support 17；Left side inside the support 17 is fixed and is connected
It is connected to first motor 23；Right side inside the support 17 is fixedly connected with second motor 24；On the bearing 19
It has been movably connected with first gear 25 and second gear 26；The output shaft of first motor 23 passes through belt and first gear
25 input shaft is connected；The output shaft of second motor 24 is connected with the input shaft of second gear 26 by belt；Institute
State and in first gear 25, be fixedly connected with first gripping finger 27；It is fixedly connected with one second to grab in the second gear 26
Fetching 28；A spring 29 is fixedly connected between first gripping finger 27 and the second gripping finger 28；Described image harvester
20 are connected with the signal input part of image recognizer 21 and processor 22 successively by cable；The signal of the processor 22 is defeated
Go out end to be also connected in parallel with gas thick stick 6, motor 16, the first motor 23 and the second motor 24 by cable.
Wherein, the spring 29 is disk spring；The universal wheel 2 is provided with shoe；First motor, 23 He
Second motor 24 is frequency conversion motor.
There is this utility model the use state of the mechanical arm of image identification function to be：During use, by universal wheel 2
It is mobile, cross bar 12 is moved to into the top of conveyer belt, image acquisition device 20 and image recognizer 21 are identified to article, work as inspection
When measuring spoil and wooden unit, processor sends instruction to gas thick stick 6, motor 16, the first motor 23 and the second motor 24, this
When, gas thick stick 6, motor 16,24 collaborative work of the first motor 23 and the second motor, gas thick stick 6 control the height of whole mechanical hand
Motion, 16 control machinery hand of motor are moved left and right, the first motor 23 and control the first gripping finger 27 He of the second motor 24
Second gripping finger 28, realizes crawl.
Disclosed in the utility model is a kind of Ore sorting process, and the present embodiment is illustrated by taking coal separation as an example,
This sorting process is a kind of method of the coal and spoil difference sorting based on image recognition technology and mechanical arm, is applied to
Capital equipment be the mechanical arm with image identification system.Image recognition and mechanical arm are combined into realization full-automatic
Sorting, break traditions artificial expelling gangue craft technical thought.This sorting process is based on sorting equipment, and the sorting equipment includes image
Identifying system and mechanical arm, mainly include image identification system 1, and controller 2, mechanical body 3, chute 4, mechanical arm 5 are picked up
Cash belt 6.Mechanical arm is connected with controller respectively with image identification system, and mechanical arm is arranged on the top for picking up cash belt,
The image capture module of image identification system is arranged on top, the front of mechanical arm for picking up cash belt.The main body of mechanical arm
Installed in the outside for picking up cash belt, it is hinged relationship, robot body and image identification system between mechanical arm and main body
It is connected with controller respectively.
The mechanical arm at least provided with a cuff image identification system on cash belt is picked up per bar.
Image identification system includes be mutually related image capture module, source images memory module and information transfer module.
A casing is provided with outside image identification system, and it is rack-mounted in the top for picking up cash belt by frame.Source images memory module and
Information transfer module is arranged on casing internal, and image capture module is arranged on bottom of shell.Deposited in source images memory module respectively
The image of coal and spoil is contained, the classification of source images memory module is selected according to actual needs.
According to the quality condition for picking up material in cash belt, if spoil quantity is more, coal is outwards sorted, if coal quantity
It is more, then outwards sort spoil.Illustrate：Outwards during sorting spoil, spoil image is selected in source images memory module, and
The image information of spoil is passed to into image capture module, thing of the image capture module according to the image information for receiving to process
Material carries out image acquisition, recognizes the spoil close with the image information received by which and is demarcated, is then passed by information
Pass module and the image information of demarcation is passed to into controller, after controller is connected to information, start robot body, main body control
Mechanical arm horizontally rotates, and after reaching specified location, implements to pick action to demarcating spoil, then goes to chute institute again in place
Put, spoil is fallen into into chute discharge, after the completion of picking action, the identification of image capture module is demarcated spoil and disappeared, and recovers automatically
Initial image acquisition identification state.
Adopt above-mentioned sorting arrangement to implement the processing step of sorting for：Raw coal after primary dcreening operation is partly into belt and enters
Row picks up cash, and image identification system will be picked up spoil or coal differentiation in cash belt, and pass information to controller, controller control machine
Tool arm is performed and picks action, and the spoil for needing to isolate or coal are picked by mechanical arm according to recognition result, and by arranging
Chute on the outside of mechanical arm is discharged.
Claims (5)
1. the sorting arrangement applied in a kind of Ore sorting process, it is characterised in that the sorting arrangement includes band image recognition
The mechanical arm of system；
Described image identifying system includes be mutually related image capture module, source images memory module and information transfer module；
The mechanical arm is connected with controller respectively with image identification system, and mechanical arm is arranged on the top for picking up cash belt,
The image capture module of image identification system is arranged on top, the front of mechanical arm for picking up cash belt.
2. the sorting arrangement applied in Ore sorting process according to claim 1, it is characterised in that the mechanical arm
Concrete structure is：Including base, universal wheel, column, workbox, fixed seat, gas thick stick, push rod, rotating shaft, follower lever, driving lever, work
Dynamic seat, cross bar, slide rail, pulley, support base, motor, support, connecting seat, bearing, image acquisition device, image recognizer, place
Reason device, the first motor, the second motor, first gear, second gear, the first gripping finger, the second gripping finger and spring；
The lower surface of the base is provided with several universal wheels；
A column is fixedly connected with the upper surface of the base；
A workbox is fixedly connected with the upper surface of the base also；
The middle-end of the column outer surface is fixedly connected with a fixed seat, and the fixed seating is in the right side of column；
The fixed seat upper surface is fixedly connected with a gas thick stick；
On the gas thick stick, axle is connected with a push rod；
One end of the follower lever is connected with the top of column by rotating shaft, and the other end of the follower lever passes through rotating shaft and work
The right side upper end of dynamic seat is connected；
One end of the driving lever is connected with the top of push rod by rotating shaft, and the other end of the driving lever passes through rotating shaft and work
The right side lower end of dynamic seat is connected；
The follower lever and driving lever are parallel；
The left end of the sliding seat is fixedly connected with a cross bar；
The upper and lower surface of the cross bar has been fixedly connected with a slide rail；
The upper and lower end of the support base is connected with a pulley；
The pulley is slidably connected on upper and lower two slide rails respectively；
A motor is fixedly connected with the support base；
The output shaft of the motor is connected with the input shaft of two pulleys by belt simultaneously；
A support is fixedly connected with the side of the support base；
A connecting seat is fixedly connected with the bottom surface of the support；
A bearing is fixedly connected with the bottom surface of the connecting seat；
The left end of the cross bar is fixedly connected with an image acquisition device；
Described image evaluator and processor are fixedly connected with support；
First motor is fixedly connected with the left of the internal stent；
Second motor is fixedly connected with the right side of the internal stent；
First gear and second gear have been movably connected with the bearing；
The output shaft of first motor is connected with the input shaft of first gear by belt；
The output shaft of second motor is connected with the input shaft of second gear by belt；
First gripping finger is fixedly connected with the first gear；
Second gripping finger is fixedly connected with the second gear；
A spring is fixedly connected between first gripping finger and the second gripping finger；
Described image harvester is connected with the signal input part of image recognizer and processor successively by cable；
The signal output part of the processor is also connected with gas thick stick, motor, the first motor and the second motor parallel by cable
Connect.
3. the sorting arrangement applied in Ore sorting process according to claim 1, it is characterised in that described image is recognized
Its exterior is provided with a casing, and rack-mounted in the top for picking up cash belt by frame；Described source images memory module and letter
Breath transfer module is arranged on casing internal, and described image capture module is arranged on bottom of shell.
4. the sorting arrangement applied in Ore sorting process according to claim 1, it is characterised in that the mechanical arm
Main body be arranged on and pick up the outside of cash belt, be hinged relationship between mechanical arm and main body, robot body and image are known
Other system is connected with controller respectively.
5. the sorting arrangement applied in Ore sorting process according to claim 1, it is characterised in that cash belt is picked up per bar
On at least provided with a cuff image identification system mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620919401.1U CN206046501U (en) | 2016-08-23 | 2016-08-23 | The sorting arrangement applied in Ore sorting process |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620919401.1U CN206046501U (en) | 2016-08-23 | 2016-08-23 | The sorting arrangement applied in Ore sorting process |
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| CN206046501U true CN206046501U (en) | 2017-03-29 |
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| CN201620919401.1U Active CN206046501U (en) | 2016-08-23 | 2016-08-23 | The sorting arrangement applied in Ore sorting process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110783870A (en) * | 2019-11-14 | 2020-02-11 | 徐州新南湖科技有限公司 | I-shaped stand side wall hanger |
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2016
- 2016-08-23 CN CN201620919401.1U patent/CN206046501U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110783870A (en) * | 2019-11-14 | 2020-02-11 | 徐州新南湖科技有限公司 | I-shaped stand side wall hanger |
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