Self-service grabbing device for beneficiation reagent medium

Abstract

The utility model discloses a beneficiation reagent medium self-service grabbing device which comprises an intelligent mechanical arm, a tray roller main line and a plurality of tray roller conveying branch lines, the intelligent mechanical arm is arranged on the outer side of the tail end of the tray roller main line, the tray roller main line comprises side conveying parts located on the two sides, and a middle conveying part is arranged between the side conveying parts. The middle conveying part comprises a plurality of reversing conveying parts and roller conveying devices, the number of the reversing conveying parts corresponds to that of the tray roller conveying branch lines, the reversing conveying parts and the roller conveying devices are arranged at intervals, and the tray roller conveying branch lines are correspondingly arranged on one sides of the reversing conveying parts; the beneficiation reagent medium is conveyed to the grabbing movement range of the intelligent mechanical arm through the tray roller conveying branch line and the tray roller main line and is grabbed by the intelligent mechanical arm, transportation and grabbing of beneficiation reagent medium bags are achieved, and using is more convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of mine feeding equipment, in particular to a self-service grabbing device for ore dressing reagent medium. Background Art

[0002] Flotation is the main method for beneficiating sulfide ores, and is widely used in the beneficiation of nickel sulfide ores, copper ores, lead-zinc ores, rare and precious metal ores and other non-metallic ores. Flotation is a process in which the target minerals are selected with the help of beneficiation reagents and then the concentrate products are floated out. Therefore, the reagent addition operation is a key link in the flotation production of beneficiation. Limited by factors such as process flow and operating conditions, the traditional bagged reagent addition process includes a series of tasks such as stacking, unstacking, transporting, breaking bags, diluting, stirring, and adding the purchased bagged reagents. As the scale of production continues to expand, the amount of reagents added also increases. In the prior art. For example, patent CN112707115A discloses a control system for conveying bagged reagents for mineral processing, which includes multiple roller conveyor units and an electrical control module. Infrared sensors are installed at the head and tail positions of each roller conveyor unit. The electrical control module includes a frequency converter and a PLC controller. The PLC controller can read the data of the infrared sensor and realize the control of multiple roller conveyor units. It can realize the bagging and segmented conveying of bagged reagents purchased for mineral processing, and is used to bag and convey the bagged reagents to a mixing tank or a stacking area. When in use, the bagged reagents stacked in the stacking area still need to be placed in sequence and separately on different roller conveyor units. The ease of use needs to be further improved. Utility Model Content

[0003] The purpose of the utility model is to overcome the above-mentioned defects or problems existing in the background technology and provide a self-service grabbing device for mineral processing reagent medium.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A self-service grabbing device for mineral processing reagent media includes an intelligent mechanical arm, a pallet roller bus, and a plurality of pallet roller conveying branch lines. The intelligent mechanical arm is arranged on the outer side of the end of the pallet roller bus. The pallet roller bus includes side conveying parts located on both sides. A middle conveying part is arranged between the side conveying parts. The middle conveying part includes a plurality of reversing conveying parts and roller conveying devices. The number of the reversing conveying parts corresponds to the number of the pallet roller conveying branch lines. The reversing conveying parts and the roller conveying devices are arranged at intervals. The pallet roller conveying branch lines are correspondingly arranged on one side of the reversing conveying part.

[0006] In certain embodiments of the utility model, the pallet roller bus is arranged horizontally, the pallet roller conveying branch line is arranged vertically, and the conveying direction of the reversing conveying part is perpendicular to the conveying direction of the roller conveying device.

[0007] In certain embodiments of the utility model, the intelligent robotic arm is provided with a mechanical gripper and a 3D vision system device, the mechanical gripper is used to grab the mineral processing agent medium bag, the mechanical gripper is provided with a weighing sensor, and the 3D vision system device is used to identify and locate the mineral processing agent medium bag. The mineral processing agent medium bag is placed on an agent tray, and the agent tray is transported to the grabbing activity range of the intelligent robotic arm via the tray roller conveying branch line and the tray roller bus.

[0008] In certain embodiments of the present invention, a third conveying line is provided on either side of the intelligent robotic arm.

[0009] In certain embodiments of the present invention, the third conveyor line is arranged on the other side of the pallet roller bus line facing the intelligent robotic arm, and the third conveyor line is arranged in parallel with the pallet roller conveyor branch line.

[0010] In certain embodiments of the utility model, the side conveying part includes a driving device, an annular transmission chain, and a plurality of sprockets. The transmission chain is wound around the outside of the sprocket, and the driving device drives the annular transmission chain through the sprocket.

[0011] In certain embodiments of the present invention, the sprocket includes redirecting wheels located at both ends, and a plurality of supporting wheels are arranged between the redirecting wheels at both ends.

[0012] In some embodiments of the utility model, a rotating shaft is provided between the side conveying parts on both sides, both ends of the rotating shaft are respectively connected to corresponding sprocket wheels, and any rotating shaft is connected to a driving device.

[0013] In certain embodiments of the utility model, the tray roller bus is arranged on a bus frame, and side mounting parts are provided on both sides of the bus frame. The side mounting parts are used to install an annular transmission chain and a sprocket. A sprocket opening is formed on the top wall of the side mounting part, and the sprocket opening protrudes from the top of the sprocket.

[0014] In some embodiments of the present invention, chain limit bars are arranged on both sides of the top of the side mounting portion, and the height of the limit bars is smaller than the height of the transmission chain.

[0015] From the above description of the utility model, it can be seen that compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. A reagent pallet is forked on the pallet roller conveyor line, and the mineral processing reagent medium bags are stacked on the reagent pallet. When in use, the required mineral processing reagent medium is transported to the grabbing range of the intelligent robotic arm through the corresponding pallet roller conveyor line and the pallet roller bus and grabbed by the intelligent robotic arm, realizing the automatic transportation and grabbing of the mineral processing reagent medium bags, reducing the manpower consumption in the process of adding mineral processing reagents, reducing harm to the human body, complying with the ESG concept, and being more convenient to use, which is conducive to making the flotation reagent preparation and addition more standardized and reasonable.

[0017] 2. The intelligent robotic arm is equipped with a mechanical gripper and a 3D vision system. The mechanical gripper is used to grab the mineral processing agent medium bag, which is more firm and stable when grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] Figure 2 For the utility model Figure 1 A magnified view of;

[0021] Figure 3 For the utility model Figure 1 B enlarged view;

[0022] Figure 4 For the utility model Figure 1 C enlarged view;

[0023] Figure 5 This is a schematic diagram of the installation of the chain limit stopper of the utility model;

[0024] Description of main reference numerals:

[0025] 1. Intelligent robotic arm, 10. Mechanical gripper, 2. Pallet roller bus, 20. Reversing conveying part, 21. Roller conveying device, 22. Side conveying part, 23. Ring transmission chain, 24. Reversing wheel, 25. Support wheel, 26. Rotating shaft, 27. Side mounting part, 28. Sprocket opening, 29. Chain limit bar, 3. Pallet roller conveying line, 30. Roller conveying part, 31. Chain conveying part, 4. Reagent pallet, 40. Mineral processing agent medium bag, 41. Empty pallet area, 42. Support leg, 5. The third conveyor line. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are preferred embodiments of the utility model and should not be regarded as excluding other embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0027] In the claims, specification and the above-mentioned drawings of the utility model, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" etc. is to distinguish different objects rather than to describe a specific order.

[0028] In the claims, specification and the above-mentioned drawings of the utility model, unless otherwise explicitly defined, directional words, such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the specific protection scope of the invention.

[0029] In the claims, specification and the above drawings of the utility model, unless otherwise clearly defined, if the term "fixed connection" or "fixed connection" is used, it should be understood in a broad sense, that is, any connection method without a displacement relationship and relative rotation relationship between the two, that is to say, including non-detachable fixed connection, detachable fixed connection, integrated connection and fixed connection through other devices or elements.

[0030] In the claims, specification and drawings of the present utility model, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0031] See also Figure 1-5 :

[0032] A self-service grabbing device for mineral processing reagent media comprises an intelligent robotic arm 1, a pallet roller bus 2, and a plurality of pallet roller conveying branch lines 3. The intelligent robotic arm 1 is arranged on the outer side of the end of the pallet roller bus 2, and the pallet roller conveying branch lines 3 are arranged on one side of the pallet roller bus 2. Different mineral processing reagent media are placed on each pallet roller conveying branch line 3. The mineral processing reagent media are contained in mineral processing reagent medium bags 40. The mineral processing reagent medium bags 40 are placed on the corresponding pallet roller conveying branch lines 3 through reagent trays 4. The mineral processing reagent medium bags 40 are transported to the grabbing activity range of the intelligent robotic arm 1 through the corresponding pallet roller conveying branch lines 3 and the pallet roller bus 2. The intelligent robotic arm 1 grabs the mineral processing reagent medium bags 40 placed on the reagent trays 4, which reduces the labor intensity of employees and improves work efficiency.

[0033] It can be understood that the mineral processing reagent medium bags 40 are stacked and placed on the reagent pallet 4, and the reagent pallet 4 with the mineral processing reagent medium bags 40 is forked onto the pallet roller conveying branch line 3 by a forklift or other pallet forking devices; the end of the pallet roller bus 2 is set as an empty pallet area 41, and when all the mineral processing reagent medium bags 40 placed on the reagent pallet 4 are grabbed by the intelligent robotic arm 1, the reagent pallet 4 is transported to the empty pallet area 41 at the end, and the empty reagent pallet 4 is forked away by a forklift or other pallet forking devices.

[0034] Preferably, the tray roller bus 2 and the plurality of tray roller conveying sub-lines 3 can adjust the speed and forward and reverse rotation under the control of the corresponding electrical control module, so as to facilitate the transportation of the medicine tray 4 on the tray roller bus 2 and the tray roller conveying sub-lines 3; the tray roller bus 2, the plurality of tray roller conveying sub-lines 3, and the intelligent robotic arm 1 are respectively connected to the on-site DCS for communication, and the on-site DCS performs overall control. Through the synergistic effect of the on-site DCS, the medicine is added as needed and in quantity, which is conducive to the uniform addition of the medicine, ensuring the product quality and the stability of the flotation operation process, improving the product technical and economic indicators, and ensuring the recovery rate.

[0035] The tray roller bus 2 includes side conveying parts 22 located on both sides, and a middle conveying part is arranged between the side conveying parts 22. Specifically, the middle conveying part includes a plurality of reversing conveying parts 20 and roller conveying devices 21. The number of the reversing conveying parts 20 corresponds to the number of the tray roller conveying branch lines 3. The reversing conveying parts 20 and the roller conveying devices 21 are arranged at intervals, and the tray roller conveying branch lines 3 correspond to the reversing conveying parts 20 and are arranged on one side of the tray roller bus 2. It can be understood that the side conveying parts 22 and the middle conveying parts on both sides correspond to the three supporting legs 42 at the bottom of the medicine tray 4 respectively.

[0036] Preferably, the number of the tray roller conveying sub-lines 3 is 3, which are respectively used to place different mineral processing reagent media. When in use, according to the flotation technical parameters, the required mineral processing reagent medium bags 40 are transported to the grabbing range of the intelligent mechanical arm 1 through the corresponding tray roller conveying sub-lines 3 and the tray roller bus 2 for grabbing. If the grabbing is completed and there are mineral processing reagent medium bags 40 left on the reagent tray 4, the tray roller bus 2 reverses and transports the reagent tray 4 back to the corresponding tray roller conveying sub-line 3. If the grabbing is completed and there are no mineral processing reagent medium bags 40 left on the reagent tray 4, the reagent tray 4 continues to be transported to the empty pallet area 41, and the empty reagent tray 4 is forked away by a forklift or other pallet forking device.

[0037] Preferably, the reversing conveying section 20 adopts a roller conveying device or a belt conveying device; the tray roller bus 2 corresponds to the tray roller conveying branch line 3 and a baffle is set on the other side, which effectively prevents the medicine tray 4 from falling out of the tray roller bus 2 due to setting failure, and has good safety.

[0038] As an implementation mode, the intelligent mechanical arm 1 is provided with a mechanical gripper 10 and a 3D vision system device. The mechanical gripper 10 is used to grab the mineral processing agent medium bag 40. The mechanical gripper 10 is provided with a weighing sensor. The mechanical gripper 10 is provided with a weighing sensor for cooperating to judge whether the mineral processing agent medium bag is successfully grabbed. The 3D vision system device is used to identify and locate the mineral processing agent medium bag 40. After the 3D vision system device scans and takes pictures, it identifies the required mineral processing agent medium. The mechanical gripper 10 locates and grabs the mineral processing agent medium bag 40, and grabs the mineral processing agent medium bag 40 to the subsequent on-site equipment device. Preferably, the mechanical gripper 10 adopts a conventional double-sided double-meshing tooth structure (4 teeth meshing), and the mechanical gripper 10 has a total of 2 groups of meshing teeth, one group on each side, so that the mechanical gripper 10 can grab the mineral processing agent medium bag 40 more firmly and stably.

[0039] As an implementation mode, a waste bag box is arranged on either side of the intelligent robotic arm 1. When the intelligent robotic arm 1 grabs the mineral processing agent medium bag 40 and pours out the mineral processing agent medium in the mineral processing agent medium, the intelligent robotic arm 1 puts the remaining waste mineral processing agent medium bag 40 into the waste bag box.

[0040] As an embodiment, a third conveyor line 5 is provided on either side of the intelligent robotic arm 1. The third conveyor line 5 is arranged on the other side of the tray roller bus 2 opposite to the intelligent robotic arm 1, and the end of the third conveyor line 5 is located within the grabbing range of the intelligent robotic arm 1. The third conveyor line 5 is arranged in parallel with the tray roller conveyor branch line 3, and the third conveyor line 5 can be used to place auxiliary drugs with relatively small amounts.

[0041] As an embodiment, the pallet roller bus 2 is arranged horizontally, the pallet roller conveying line 3 is arranged vertically, the side conveying part 22 and the pallet roller conveying line 3 are located at the same horizontal height, and the conveying direction of the reversing conveying part 20 is perpendicular to the conveying direction of the roller conveying device 21, so as to facilitate the conveying of the medicine pallet 4 between the pallet roller conveying line 3 and the pallet roller bus 2.

[0042] As an embodiment, the side conveying part 22 includes a driving device, an annular transmission chain 23, and a plurality of sprockets. The annular transmission chain 23 is wound around the outside of the sprocket, and the driving device drives the annular transmission chain 23 through the sprocket. The sprocket includes redirecting wheels 24 at both ends, and the inner sides of both ends of the annular transmission chain 23 are redirected around the redirecting wheels 24 respectively, and a plurality of supporting wheels 25 are arranged between the redirecting wheels 24 at both ends.

[0043] As an implementation mode, a rotating shaft 26 is provided between the side conveying parts 22 on both sides, and both ends of the rotating shaft 26 are respectively connected to corresponding sprocket wheels. Any rotating shaft 26 is connected to a driving device so that the side conveying parts 22 on both sides move synchronously.

[0044] As an embodiment, the tray roller bus 2 is arranged on the bus frame, and side mounting parts 27 are provided on both sides of the bus frame. The side mounting parts 27 are used to install the annular transmission chain 23 and the sprocket. The top wall of the side mounting part 27 is formed with a sprocket opening 28, and the sprocket opening 28 protrudes from the top of the sprocket.

[0045] As an implementation manner, chain limit bars 29 are arranged on both sides of the top of the side mounting portion 27. The height of the limit bars is less than the height of the transmission chain. The chain limit bars 29 are used to prevent the annular transmission chain 23 from deviating.

[0046] As an embodiment, the tray roller conveying line 3 includes a roller conveying part 30 located in the middle and chain conveying parts 31 located on both sides. The roller conveying part 30 and the chain conveying part 31 are located at the same horizontal height. The chain conveying parts 31 on both sides and the roller conveying part 30 in the middle also correspond to the three supporting legs 42 at the bottom of the medicine tray 4 respectively.

[0047] As an implementation mode, a sensor device is arranged on one side of the tray roller bus 2, and the sensor device is used to determine the conveying position of the medicine tray 4. Preferably, the sensor device is connected to the on-site DCS communication, and the number of the sensor devices is not less than the number of the middle conveying parts. Specifically, the empty pallet area 41 and each middle conveying part are provided with a sensor device for determining whether the medicine tray 4 is located at an appropriate conveying position.

[0048] The description of the above specification and embodiments is used to explain the protection scope of the utility model, but does not constitute a limitation on the protection scope of the utility model. Through the enlightenment of the utility model or the above embodiments, ordinary technicians in this field can obtain modifications, equivalent replacements or other improvements to the embodiments of the utility model or part of the technical features thereof through logical analysis, reasoning or limited experiments, which should be included in the protection scope of the utility model.

Claims

1. A self-service grabbing device for mineral processing reagent medium, characterized in that: It includes an intelligent robotic arm, a pallet roller bus, and several pallet roller conveying branch lines. The intelligent robotic arm is arranged on the outer side of the end of the pallet roller bus. The pallet roller bus includes side conveying parts on both sides. A middle conveying part is arranged between the side conveying parts. The middle conveying part includes several reversing conveying parts and roller conveying devices. The number of the reversing conveying parts corresponds to the number of the pallet roller conveying branch lines. The reversing conveying parts and the roller conveying devices are arranged at intervals, and the pallet roller conveying branch lines are correspondingly arranged on one side of the reversing conveying part.

2. The self-service grabbing device for mineral processing reagent medium according to claim 1 is characterized in that: The pallet roller bus is arranged horizontally, the pallet roller conveying branch line is arranged vertically, and the conveying direction of the reversing conveying part is perpendicular to the conveying direction of the roller conveying device.

3. The self-service grabbing device for mineral processing reagent medium according to claim 1 is characterized in that: The intelligent robotic arm is provided with a mechanical gripper and a 3D vision system device. The mechanical gripper is used to grab the mineral processing agent medium bag. The mechanical gripper is provided with a weighing sensor. The mineral processing agent medium bag is placed on the agent tray. The agent tray is transported to the grabbing activity range of the intelligent robotic arm via the tray roller conveying branch line and the tray roller bus.

4. The self-service grabbing device for mineral processing reagent medium according to claim 1, characterized in that: A third conveying line is arranged on either side of the intelligent robotic arm.

5. The self-service grabbing device for mineral processing reagent medium according to claim 4, characterized in that: The third conveyor line is arranged on the other side of the pallet roller bus line facing the intelligent robot arm, and the third conveyor line is arranged in parallel with the pallet roller conveyor branch line.

6. A self-service grabbing device for mineral processing reagent medium according to any one of claims 1 to 5, characterized in that: The side conveying part comprises a driving device, an annular transmission chain, and a plurality of sprocket wheels. The annular transmission chain is wound around the outer side of the sprocket wheel, and the driving device drives the annular transmission chain through the sprocket wheel.

7. The self-service grabbing device for mineral processing reagent medium according to claim 6, characterized in that: The sprocket comprises redirecting wheels at two ends, and a plurality of supporting wheels are arranged between the redirecting wheels at the two ends.

8. The self-service grabbing device for mineral processing reagent medium according to claim 6, characterized in that: A rotating shaft is arranged between the side conveying parts on both sides, both ends of the rotating shaft are respectively connected to corresponding sprocket wheels, and any rotating shaft is connected to a driving device.

9. The self-service grabbing device for mineral processing reagent medium according to claim 8, characterized in that: The tray roller bus is arranged on the bus frame, and side mounting parts are arranged on both sides of the bus frame. The side mounting parts are used to install the annular transmission chain and the sprocket. The top wall of the side mounting part is formed with a sprocket opening, and the top of the sprocket protrudes from the sprocket opening.

10. The self-service grabbing device for mineral processing reagent medium according to claim 9, characterized in that: Chain limit stops are arranged on both sides of the top of the side mounting portion, and the height of the chain limit stops is smaller than the height of the transmission chain.

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