Ore sorting device and method for density estimation based on robot

Abstract

The invention discloses an ore sorting device and method for density estimation based on a robot, and relates to the technical field of ore sorting. The volume and mass of ore are calculated through a volume detection module and a weighing module integrated on the robot respectively, the density of the ore is obtained through calculation according to the mass and the volume, then a mechanical gripper is controlled to conduct dry separation on the ore based on the density, and all different independent parts are integrated on the robot as a whole. The size of the equipment is reduced, meanwhile, all the parts of the integrated whole can still play original functions, all the parts cooperate in a coordinated mode to complete overall density calculation, convenient and low-cost ore sorting is achieved, and high practicability and popularization value are achieved.

Description

technical field [0001] The invention relates to the technical field of ore sorting, in particular to an ore sorting device and method for density estimation based on a robot. Background technique [0002] With the development of science and technology, because the quality of the raw ore directly mined is difficult to meet the requirements of the industry, it is extremely important to sort the ore. At present, the sorting methods of ore can be divided into two types: wet separation and dry separation. The wet separation method is based on different ore densities, but requires a large amount of water. Dry sorting can be divided into traditional manual sorting and machine sorting. The manual sorting of the dry sorting method has low efficiency and high error rate, and machine sorting is more efficient. The principle of machine sorting can be roughly divided into methods based on density and machine vision. Equipment based on density such as ray method is expensive, and it m...

AI Technical Summary

Problems solved by technology

Equipment based on density such as ray method is expensive, and it may even cause harm to the human body if the safety protection is improper; machine vision sorting methods based on image information such as texture and grayscale have poor accuracy

Compared with the practicability, accuracy, environmental protection and sorting action methods of the above-mentioned various sorting methods, the dry sorting method based on density is the most suitable, while the existing dry sorting method based on density, such as winnowing technology, The equipment is bulky, expensive, and most of the sorting actions are based on air valves or high-pressure spray guns, which have poor stability and real-time performance.

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