Fully automatic floating and sinking test system and test method

Abstract

The present invention discloses a fully automatic floating and sinking test system, which includes a rotating disk, a slime flushing nozzle, a slime bucket, a plurality of floating and sinking cylinders, a plurality of bottom-screen buckets and a plurality of bottom screens. All the floating and sinking cylinders are evenly arranged on the rotating disk, and the slime bucket, the slime flushing nozzle, the bottom-screen buckets and the bottom screens are arranged outside the rotating disk. A non-contact displacement sensor is provided at the edge of the upper surface of the rotating disk, and the slime flushing nozzle is located above the slime bucket. It also includes a clamping and reporting robotic arm, a density adjusting robotic arm and a salvage robotic arm. The test method includes: S1, recovering the slime in coal; S2, adjusting the density levels of the density liquid in the floating and sinking cylinders; S3, putting the coal with the recovered slime into a buffer solution for infiltration; S4, performing floating and sinking on the infiltrated coal; S5, salvaging the floating materials. The slime flushing nozzle and the slime bucket of the present invention can cooperate to complete the recovery of slime, and there is no need to rely on manual use of a ladle for floating and sinking tests.

Description

Technical Field

[0001] The present invention relates to the technical field of floating and sinking tests, and in particular to a fully automatic floating and sinking test system and a test method. Background Art

[0002] The float and sink test is a highly effective guide to production operations in separation processes such as jigging and heavy media separation. According to national standards, the larger the particle size, the more coal is required for the float and sink test, typically requiring more than ten kilograms of coal to be tested in float and sink cylinders of varying density. This places a high workload on the operators of the float and sink tests. Furthermore, most of the chemicals used in the tests are harmful to the human body, posing a potential safety hazard.

[0003] At present, floating and sinking tests are all done manually with a scoop. There is no better way to clean up the floating objects at each density level. At the same time, there is no complete design for the recovery of fine-grained coal slime required for floating and sinking tests, and the entire process of recycling materials at each density level. There are almost only some explorations on the collection of coal samples for floating and sinking tests, but there is a lack of research on the recovery of coal at each density level and the next step of collecting coal at each density level. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a fully automatic floating and sinking test system and test method to solve the problem that the existing floating and sinking tests all rely on manual labor using a scoop.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] On the one hand, a fully automatic floating and sinking test system is provided, including a rotating disk, a coal slime flushing nozzle, a coal slime bucket, multiple floating and sinking cylinders, multiple mesh bottom buckets and multiple mesh bottom screens. All floating and sinking cylinders are evenly arranged on the rotating disk, and the coal slime bucket, coal slime flushing nozzle, mesh bottom bucket and mesh bottom screen are arranged on the outside of the rotating disk. A non-contact displacement sensor is provided on the edge of the rotating disk, and the coal slime flushing nozzle is located above the coal slime bucket. It also includes

[0007] A clamping and reporting mechanical arm, which can move the net bottom bucket between the coal slime flushing nozzle and the coal slime bucket, can move the net bottom bucket into and out of the floating and sinking cylinder, and can put the net bottom bucket back to its original position;

[0008] Density adjustment robot: The density adjustment robot can prepare the density liquid to be loaded into the floating and sinking cylinder according to the required density level, or adjust the density level of the density liquid already in the floating and sinking cylinder;

[0009] Salvage mechanical arm: The salvage mechanical arm is provided with a salvage umbrella which can enter the floating cylinder to salvage the floating materials, and can pour the salvaged floating materials into the bottom screen of the net.

[0010] Preferably, a raw material conveyor belt for conveying the mesh-bottom barrel is arranged outside the rotary disk, a mesh-bottom sieve for conveying the lifting conveyor belt is located, and a multi-layer mesh-bottom sieve rack for placing the mesh-bottom sieve is provided. A permanent magnet capable of magnetically attracting the mesh-bottom sieve on the multi-layer mesh-bottom sieve rack is arranged on the surface of the lifting conveyor belt. The lifting conveyor belt is installed on a lift, and the fishing umbrella can move above the mesh-bottom sieve on the lifting conveyor belt.

[0011] Preferably, the newspaper clamping robotic arm includes a hydraulic cylinder I, a rotary motor I, a force arm I, and a cross beam I connected in sequence. An exciter I is arranged on the cross beam I, and a clamping mechanism for clamping the mesh-bottom barrel is connected to the front end of the cross beam I.

[0012] Preferably, the density adjustment robotic arm includes a hydraulic cylinder III, a rotary motor III, a force arm III, and a cross beam III connected in sequence. A stock solution pipe, a clear water pipe, and a waste liquid pipe are arranged on the cross beam III. A stirrer, a liquid level gauge, and a density gauge are arranged on the lower side of the front end of the cross beam III;

[0013] A stock solution cylinder and a waste liquid cylinder are arranged outside the rotary disk. The input end of the stock solution pipe is communicated with the stock solution cylinder. A stock solution pump, a solenoid valve I, and a flow meter I are arranged on the stock solution pipe. The input end of the clear water pipe is communicated with a water source. A solenoid valve II and a flow meter II are arranged on the clear water pipe. The output end of the waste liquid pipe is communicated with the waste liquid cylinder. A solenoid valve III and a waste liquid pump are arranged on the waste liquid pipe. The output ends of the stock solution pipe and the clear water pipe can be adjusted by the density adjustment robotic arm and moved above the floating and sinking cylinder. The input end of the waste liquid pipe can enter below the liquid level in the floating and sinking cylinder through the adjustment of the density adjustment robotic arm.

[0014] Preferably, the fishing robotic arm includes a hydraulic cylinder II, a rotary motor II, a force arm II, and a cross beam II connected in sequence. A fishing umbrella and a fishing spray head are arranged on the lower side of the front end of the cross beam II. The water spraying end of the fishing spray head is located above the fishing umbrella. A control umbrella mechanism for controlling the fishing umbrella to close upward, open, or close in the reverse direction is arranged at the front end of the cross beam II. The axes of the fishing umbrella and the hydraulic cylinder are parallel to each other.

[0015] Preferably, the fishing umbrella includes a sliding rod, a sliding sleeve, a sliding honeycomb, a fixed honeycomb, a canopy mesh, a plurality of long umbrella ribs, and a plurality of short umbrella ribs. The upper end of the sliding rod is vertically connected to the lower surface of the front end of the cross beam II. The fixed honeycomb is coaxially connected to the lower end of the sliding rod. One end of a short umbrella rib is hinged to the fixed honeycomb, and the other end of one short umbrella rib is hinged to the middle of one long umbrella rib. Both the sliding sleeve and the sliding honeycomb are sleeved on the sliding rod. The sliding honeycomb is fixedly connected to the lower end of the sliding sleeve. One end of the long umbrella rib is hinged to the sliding honeycomb. The upper end of the sliding sleeve is connected to the control umbrella mechanism. The long umbrella ribs are uniformly arranged and fixed under the canopy mesh.

[0016] Preferably, the control umbrella mechanism includes a driver and a right-angle hook. The driver is a worm motor. A spiral groove matched with the worm of the worm motor is arranged on the inner surface of the right-angle hook. One side of the right-angle hook is fixedly connected to the upper end of the sliding sleeve.

[0017] On the other hand, a test method for a fully automatic floating and sinking test system is provided, including the following steps:

[0018] S1. Recover the slime in the coal: Put the coal into the net-bottom barrel, the clamping and lifting robotic arm rotates and descends, clamps the net-bottom barrel, lifts and rotates it above the slime barrel, and then descends it into the slime barrel. The slime flushing nozzle starts to spray water, and the vibrator I is turned on to vibrate continuously. The flushing time of the slime flushing nozzle is set to 2 - 10 minutes to complete the slime recovery.

[0019] S2. Adjust the density grade of the density liquid in the floating and sinking cylinder: The density adjustment robotic arm descends to below the liquid level of the density liquid in the floating and sinking cylinder, and the stirrer starts to stir for 1 - 2 minutes. The densitometer detects the density, and the liquid level gauge detects the liquid level.

[0020] Calculate the amount of stock solution to be added according to the density and liquid level. If the density is lower than the required density, the solenoid valve I is opened, and the stock solution is discharged into the floating and sinking cylinder through the stock solution pump and the stock solution pipe, and the flowmeter I measures it. At the same time, according to the liquid level of the liquid level gauge, adjust the liquid level height. If it is lower than the specified value, add the calculated amount of clear water and stock solution. If it is higher than the liquid level requirement, the solenoid valve III is opened, the waste liquid pump operates, and the waste liquid pipe sucks out the excess density liquid in the floating and sinking cylinder and discharges it into the waste liquid cylinder until the density grade of the density liquid in the floating and sinking cylinder is adjusted.

[0021] S3. Immerse the coal with recovered slime in the buffer solution: The density grades of the density liquids in all floating and sinking cylinders are different. The density grade of the density liquid in the first floating and sinking cylinder is the lowest and is used as the buffer solution. Before a single floating and sinking experiment, the density adjustment robotic arm needs to first complete the adjustment of the density grade of the buffer solution. The clamping and lifting robotic arm puts the net-bottom barrel that has completed slime recovery into the buffer solution in the first floating and sinking cylinder for immersion.

[0022] S4. Perform floating and sinking on the immersed coal: After the clamping and lifting robotic arm immerses the net-bottom barrel in the buffer solution and then lifts it, the vibrator I vibrates until it is drained. The clamping and lifting robotic arm puts the immersed net-bottom barrel into the density liquid of the next floating and sinking cylinder for floating and sinking, and the low-density materials float up.

[0023] S5. Salvage the floating materials: The salvage robotic arm rotates above the net-bottom barrel, drives the salvage umbrella in the upward closing state to descend, so that the umbrella surface net cloth is immersed below the liquid level. The umbrella control mechanism drives the sliding honeycomb to move up, and the salvage umbrella slowly opens. At the same time, the salvage robotic arm needs to ensure that the umbrella surface net cloth remains below the liquid level, and finally the umbrella surface net cloth coincides with the inner wall of the net-bottom barrel.

[0024] The salvage robotic arm rises, and the umbrella surface net cloth on the salvage umbrella fishes out the floating materials from the net-bottom barrel. The vibrator II is turned on to drain the residual density liquid in the floating materials.

[0025] The salvage robotic arm rotates above the bottom screen of the net, and the umbrella control mechanism drives the sliding honeycomb to continue rising. The mesh fabric of the umbrella surface gradually reverses to a reverse closed state, and the floating materials fall into the bottom screen of the net. The salvage nozzle starts to spray water to wash away the floating materials on the mesh fabric of the umbrella surface and the density liquid that has fallen into the bottom screen of the net. The umbrella control mechanism drives the sliding honeycomb to move downward, causing the mesh fabric of the umbrella surface of the salvage umbrella to return to the upward closed state. After the floating materials in the bottom barrel of the net are completely salvaged, the clamping robotic arm places the bottom barrel of the net into the floating and sinking cylinder with a higher density level of the next density liquid.

[0026] Preferably, in step S1, the bottom barrel of the net is placed on the raw material conveyor belt, and the raw material conveyor belt transports the bottom barrel of the net filled with coal to the fixed position clamped by the clamping robotic arm.

[0027] During the process of step S5, the lifting conveyor belt moves up and down through the elevator to face the bottom screen on the multi-layer bottom screen frame. The lifting conveyor belt reverses to make the permanent magnet attract the bottom screen, pulls out the bottom screen from the multi-layer bottom screen frame, and transports it to the center position of the conveyor belt. The lifting conveyor belt moves up and down to the same height position as the floating and sinking cylinder.

[0028] Step S5 is repeated 1 - 2 times to ensure that the floating materials are completely salvaged, and then the salvage ends. Then, the clamping robotic arm places the bottom barrel of the net into the next floating and sinking cylinder for floating and sinking. Then, repeat step S5 to salvage the floating materials. The bottom barrel of the net is placed into different floating and sinking cylinders in ascending order of the density level of the density liquid until a floating and sinking test is completed. Then, the clamping robotic arm places the bottom barrel of the net back on the raw material conveyor belt and clamps other bottom barrels of the net filled with coal for the next floating and sinking test.

[0029] After step S5 is completed, the lifting conveyor belt transports the bottom screen to the multi-layer bottom screen frame through forward rotation.

[0030] Preferably, the lifting conveyor belt places the bottom screens on the multi-layer bottom screen frame layer by layer from bottom to top in ascending order of density level.

[0031] The beneficial effects of the present invention are as follows:

[0032] 1. The coal slime washing nozzle and the coal slime barrel of the present invention can cooperate to complete the recovery of coal slime. The clamping robotic arm can move the bottom barrel of the net filled with coal. The density adjustment robotic arm can adjust the density level of the density liquid in the floating and sinking cylinder. The salvage robotic arm can complete the salvage of the floating materials, eliminating the need for manual use of a ladle for the floating and sinking test.

[0033] 2. The raw material conveyor belt of the present invention can continuously transport multiple bottom barrels of the net. The lifting conveyor belt and the elevator can cooperate to pick up and place multiple bottom screens, facilitating continuous floating and sinking experiments with multiple different density levels.

[0034] 3. The upper end of the sliding sleeve of the fishing umbrella of the present invention is connected to the umbrella control mechanism, and the umbrella control mechanism controls the upward retraction, opening or reverse retraction of the fishing umbrella by driving the sliding sleeve to move up and down.

[0035] 4. The present invention determines the starting point and rotation distance of the rotation of the rotating disk through a non-contact displacement sensor, and moves the floating and sinking cylinder to the positions corresponding to the clamping manipulator, the fishing manipulator and the density adjustment manipulator through the rotation of the rotating disk. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic plan view of a fully automatic floating and sinking test system;

[0037] Figure 2 is a schematic three-dimensional view of a fully automatic floating and sinking test system;

[0038] Figure 3 is a schematic view of the clamping manipulator structure of a fully automatic floating and sinking test system;

[0039] Figure 4 is a schematic view of the density adjustment manipulator structure of a fully automatic floating and sinking test system;

[0040] Figure 5 is a schematic view of the fishing manipulator structure of a fully automatic floating and sinking test system Figure 1 ;

[0041] Figure 6 is a schematic view of the fishing manipulator structure of a fully automatic floating and sinking test system Figure 2 ;

[0042] Figure 7 is a schematic view of the fishing umbrella structure of a fully automatic floating and sinking test system;

[0043] Figure 8 is a schematic view of a connection structure between the sliding sleeve and the right-angle hook.

[0044] Among them: 1. Floating and sinking cylinder; 2. Rotating disk; 3. Mesh bottom barrel; 4. Raw material conveyor belt;

[0045] 5. Clamping manipulator; 501. Hydraulic cylinder I; 502. Rotating motor I; 503. Lever I; 504. Cross beam I; 505. Clamping mechanism; 506. Vibrator I;

[0046] 6. Slurry barrel; 7. Slurry flushing nozzle; 8. Lifting conveyor belt; 801. Permanent magnet; 9. Multi-layer mesh bottom sieve frame;

[0047] 10. Salvage manipulator; 1001. Hydraulic cylinder II; 1002. Rotary motor II; 1003. Lever II; 1004. Vibrator II; 1005. Crossbeam II; 1006. Slide block; 1007. Right-angle hook; 1008. Driver; 1009. Salvage nozzle; 1010. Notch plate; 1011. Telescopic cylinder; 1012. Orientation plate; 1013. Slide rail; 1014. Passage strip opening

[0048] 11. Stock solution cylinder; 12. Waste liquid cylinder; 13. Non-contact displacement sensor

[0049] 14. Density adjustment manipulator; 1401. Rotary motor III; 1402. Lever III; 1403. Stirrer; 1404. Liquid level gauge; 1405. Density meter; 1406. Crossbeam III; 1407. Hydraulic cylinder III; 1408. Stock solution pipe; 1409. Clear water pipe; 1410. Waste liquid pipe

[0050] 15. Salvage umbrella; 1501. Slide rod; 1502. Sliding sleeve; 1503. Sliding honeycomb; 1504. Umbrella surface mesh; 1505. Long umbrella rib; 1506. Short umbrella rib; 1507. Fixed honeycomb; 1508. External thread section; 1509. Fastening nut; 1510. Lower clamping plate; 1511. Upper clamping plate

[0051] 16. Support frame; 17. Lift; 18. Mesh bottom sieve Detailed implementation manners

[0052] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings

[0053] Refer to Figure 1-8 , this embodiment provides a full-automatic floating and sinking test system, including a rotating disk 2, a slime flushing nozzle 7, a slime bucket 6, a plurality of floating and sinking cylinders 1, a plurality of mesh bottom buckets 3 and a plurality of mesh bottom sieves 18. All the floating and sinking cylinders 1 are evenly arranged on the rotating disk 2. The slime bucket 6, the slime flushing nozzle 7, the mesh bottom bucket 3 and the mesh bottom sieve 18 are arranged outside the rotating disk 2. A non-contact displacement sensor 13 is provided at the edge of the upper surface of the rotating disk 2. The slime flushing nozzle 7 is located above the slime bucket 6; it further includes

[0054] A clamping and reporting manipulator, which can move the mesh bottom bucket 3 between the slime flushing nozzle 7 and the slime bucket 6, can move the mesh bottom bucket 3 into and out of the floating and sinking cylinder 1, and can put the mesh bottom bucket 3 back to its original position

[0055] A density adjustment manipulator 14: The density adjustment manipulator 14 can prepare the density liquid filled into the floating and sinking cylinder 1 according to the required density level, or adjust the density level of the existing density liquid in the floating and sinking cylinder 1

[0056] Salvage manipulator 10: A salvage umbrella 15 capable of entering the floating and sinking cylinder 1 to retrieve the floating materials is provided on the salvage manipulator 10, and the retrieved floating materials can be poured into the screen-bottom sieve 18.

[0057] The coal slime flushing nozzle 7 and the coal slime bucket 6 of the present invention can cooperate to complete the recovery of coal slime. The clamping manipulator can move the screen-bottom bucket 3 filled with coal. The density adjustment manipulator 14 can adjust the density level of the density liquid in the floating and sinking cylinder 1. The salvage manipulator 10 can complete the retrieval of the floating materials, and there is no need for manual floating and sinking tests with a ladle.

[0058] In a preferred embodiment of the present invention, a raw material conveyor belt 4 for conveying the screen-bottom bucket 3 is further arranged outside the rotating disk 2, a screen-bottom sieve 18 for the lifting conveyor belt 8 is located, and a multi-layer screen-bottom sieve rack 9 for placing the screen-bottom sieve 18 is provided. A permanent magnet capable of magnetically attracting the screen-bottom sieve 18 on the multi-layer screen-bottom sieve rack 9 is arranged on the surface of the lifting conveyor belt 8. The lifting conveyor belt 8 is installed on the elevator 17, and the salvage umbrella 15 can move above the screen-bottom sieve 18 on the lifting conveyor belt 8.

[0059] The raw material conveyor belt 4 of the present invention can complete the continuous conveyance of multiple screen-bottom buckets 3. The cooperation between the lifting conveyor belt 8 and the elevator 17 can complete the picking and placing of multiple screen-bottom sieves 18, facilitating the continuous conduct of floating and sinking experiments with multiple different density levels.

[0060] In a preferred embodiment of the present invention, the clamping manipulator includes a hydraulic cylinder I 501, a rotating motor I 502, a force arm I 503, and a cross beam I 504 connected in sequence. A vibrator I 506 is provided on the cross beam I 504, and a clamping mechanism 505 for clamping the screen-bottom bucket 3 is connected to the front end of the cross beam I 504.

[0061] The clamping manipulator of the present invention can move the screen-bottom bucket 3 between the coal slime flushing nozzle 7 and the coal slime bucket 6, can move the screen-bottom bucket 3 into and out of the floating and sinking cylinder 1, and can return the screen-bottom bucket 3 to its original position. When the vibrator I 506 is started, the liquid in the screen-bottom bucket 3 can be filtered dry faster.

[0062] In a preferred embodiment of the present invention, the density adjustment manipulator 14 includes a hydraulic cylinder III 1407, a rotating motor III 1401, a force arm III 1402, and a cross beam III 1406 connected in sequence. A stock solution pipe 1408, a clear water pipe 1409, and a waste liquid pipe 1410 are provided on the cross beam III 1406. A stirrer 1403, a liquid level gauge 1404, and a density gauge 1405 are provided on the lower side of the front end of the cross beam III 1406;

[0063] Outside the rotating disk 2, there are a stock solution tank 11 and a waste liquid tank 12. The input end of the stock solution pipe 1408 is connected to the stock solution tank 11. A stock solution pump, a solenoid valve I, and a flowmeter I are provided on the stock solution pipe 1408. The input end of the clear water pipe 1409 is connected to a water source. A solenoid valve II and a flowmeter II are provided on the clear water pipe 1409. The output end of the waste liquid pipe 1410 is connected to the waste liquid tank 12. A solenoid valve III and a waste liquid pump are provided on the waste liquid pipe 1410. The output ends of the stock solution pipe 1408 and the clear water pipe 1409 can be adjusted and moved above the floating and sinking tank 1 through the adjustment of the density adjustment robotic arm 14. The input end of the waste liquid pipe 1410 can enter below the liquid level in the floating and sinking tank 1 through the adjustment of the density adjustment robotic arm 14.

[0064] The stock solution pipe 1408 of the present invention can add stock solution into the floating and sinking tank 1 to increase the density level of the density liquid. The clear water pipe 1409 can add clear water into the floating and sinking tank 1 to decrease the density level of the density liquid. The waste liquid pipe 1410 can extract excessive liquid in the floating and sinking tank 1, so that the density liquid filled in the floating and sinking tank 1 can be prepared according to the required density level, or the density level of the existing density liquid in the floating and sinking tank 1 can be adjusted.

[0065] In a preferred embodiment of the present invention, the salvage robotic arm 10 includes a hydraulic cylinder II 1001, a rotary motor II 1002, a force arm II 1003, and a cross beam II 1005 connected in sequence. A salvage umbrella 15 and a salvage spray head 1009 are provided on the lower side of the front end of the cross beam II 1005. The water spraying end of the salvage spray head 1009 is located above the salvage umbrella 15. A control umbrella mechanism for controlling the upward closing, opening, or reverse closing of the salvage umbrella 15 is provided at the front end of the cross beam II 1005. The axes of the salvage umbrella 15 and the hydraulic cylinder are parallel to each other.

[0066] The salvage robotic arm 10 of the present invention can control the salvage umbrella 15 to enter and exit the floating and sinking tank 1. The control umbrella mechanism can control the upward closing, opening, or reverse closing of the salvage umbrella 15, so that the operation of salvaging floating materials can be completed, and the salvaged floating materials can be poured into the net-bottom sieve 18.

[0067] In a preferred embodiment of the present invention, the salvage umbrella 15 comprises a sliding rod 1501, a sliding sleeve 1502, a sliding honeycomb 1503, a fixed honeycomb 1507, an umbrella mesh 1504, a plurality of long umbrella ribs 1505 and a plurality of short umbrella ribs 1506. The upper end of the sliding rod 1501 is vertically connected to the lower end of the front end of the crossbeam II 1005, the fixed honeycomb 1507 is coaxially connected to the lower end of the sliding rod 1501, and one end of the short umbrella rib 1506 is connected to the fixed honeycomb 1507. 07 hinged, the other end of a short rib 1506 is hinged to the middle of a long rib 1505, the sliding sleeve 1502 and the sliding honeycomb 1503 are both sleeved on the sliding rod 1501, the sliding honeycomb 1503 is fixedly connected to the lower end of the sliding sleeve 1502, one end of the long rib 1505 is hinged to the sliding honeycomb 1503, the upper end of the sliding sleeve 1502 is connected to the umbrella control mechanism, and the long ribs 1505 are evenly arranged and fixed under the umbrella mesh 1504.

[0068] The upper end of the sliding sleeve 1502 of the salvage umbrella 15 of the present invention is connected to the umbrella control mechanism, and the umbrella control mechanism controls the salvage umbrella 15 to fold upward, open, or fold in the reverse direction by driving the sliding sleeve 1502 to move up and down.

[0069] In a preferred embodiment of the present invention, the umbrella control mechanism includes a driver 1008 and a right-angle hook 1007. The driver 1008 is a worm motor. The inner surface of the right-angle hook 1007 is provided with a spiral groove that cooperates with the worm of the worm motor. One side of the right-angle hook 1007 is fixedly connected to the upper end of the sliding sleeve 1502.

[0070] The worm of the worm motor of the present invention cooperates with the spiral groove of the right-angle hook 1007, and the right-angle hook 1007 is fixedly connected to the upper end of the sliding sleeve 1502. During the rotation of the worm of the worm motor, the right-angle hook 1007 can drive the sliding sleeve 1502 to move up and down, thereby controlling the salvage umbrella 15 to fold upward, open or fold in the opposite direction.

[0071] This embodiment provides a test method for a fully automatic floating and sinking test system, comprising the following steps:

[0072] S1, recovering coal slime from coal: Coal is placed into the mesh bottom bucket 3, the clamping robot 5 rotates and descends, clamping the mesh bottom bucket 3, lifting and rotating it above the coal slime bucket 6, and descending into the coal slime bucket 6. The coal slime flushing nozzle 7 starts spraying water, and the vibrator I 506 is turned on to vibrate continuously. The flushing time of the coal slime flushing nozzle 7 is set to 2-10 minutes, completing the coal slime recovery;

[0073] S2, adjusting the density level of the density liquid in the float-sink cylinder 1: while step S1 is being performed, the density adjustment robot arm 14 descends below the liquid surface of the density liquid in the second float-sink cylinder 1, the stirrer 1403 starts stirring for 1-2 minutes, the densitometer 1405 detects the density, and the liquid level meter 1404 detects the liquid level;

[0074] Calculate the amount of the original liquid to be added based on the density and the level gauge 1404. If the density is lower than the required density, the solenoid valve I opens, and the original liquid is discharged into the second floating and sinking tank 1 through the original liquid pump and the original liquid pipe 1408, and the flowmeter I measures it. At the same time, according to the liquid level of the level gauge 1404, adjust the liquid level height. If it is lower than the specified value, add the calculated amount of clean water and the original liquid. If it is higher than the liquid level requirement, the solenoid valve III opens, the waste liquid pump operates, and the waste liquid pipe 1410 sucks out the excess density liquid in the second floating and sinking tank 1 and discharges it into the waste liquid tank 12 until the density level of the density liquid in the second floating and sinking tank 1 is adjusted completely;

[0075] S3. Immerse the coal with the recovered slime in the buffer liquid: The density levels of the density liquids in all the floating and sinking tanks 1 are different. The density level of the density liquid in the first floating and sinking tank 1 is the lowest and is used as the buffer liquid. Before a single floating and sinking experiment, the density adjustment robotic arm 14 needs to first complete the adjustment of the density level of the buffer liquid. The clamping robotic arm 5 puts the mesh-bottom bucket 3 with the recovered slime into the buffer liquid in the first floating and sinking tank 1 for immersion. At this time, the density adjustment robotic arm 14 simultaneously starts to adjust the density level of the density liquid in the third floating and sinking tank 1 according to step S2;

[0076] S4. Perform floating and sinking on the immersed coal: After the clamping robotic arm 5 puts the mesh-bottom bucket 3 into the buffer liquid for immersion and then lifts it, the vibrator I 506 vibrates until it is drained. The clamping robotic arm 5 puts the immersed mesh-bottom bucket 3 into the density liquid in the second floating and sinking tank 1 for floating and sinking, and the low-density materials float up;

[0077] S5. Salvage the floating materials: The salvage robotic arm 10 rotates above the mesh-bottom bucket 3, drives the salvage umbrella 15 in the upward-closed state to descend, so that the umbrella surface mesh 1504 is immersed 50 mm - 100 mm below the liquid surface. The umbrella control mechanism drives the sliding honeycomb 1503 to move upward, and the salvage umbrella 15 slowly opens. At the same time, the salvage robotic arm 10 slowly rises to ensure that the umbrella surface mesh 1504 remains 50 - 100 mm below the liquid surface. Finally, the umbrella surface mesh 1504 coincides with the inner wall of the mesh-bottom bucket 3;

[0078] The salvage robotic arm 10 rises, and the umbrella surface mesh 1504 on the salvage umbrella 15 fishes out the floating objects from the mesh-bottom bucket 3. The vibrator II 1004 is turned on to drain the residual density liquid in the floating materials;

[0079] The salvage robotic arm 10 rotates above the bottom screen 18. The umbrella control mechanism drives the sliding honeycomb 1503 to continue rising, and the umbrella surface net cloths 1504 gradually reverse to a reverse closed state. The floating materials fall into the bottom screen 18, and the salvage spray head 1009 starts spraying water to wash the floating materials on the umbrella surface net cloths 1504 and the density liquid that has fallen into the bottom screen 18 clean. The umbrella control mechanism drives the sliding honeycomb 1503 to move downward, causing the umbrella surface net cloths 1504 of the salvage umbrella 15 to return to the upward closed state. After all the floating materials in the bottom barrel 3 are salvaged, the clamping robotic arm 5 places the bottom barrel 3 into another floating and sinking cylinder with a higher density level of the density liquid.

[0080] In the specific implementation process of the present invention, the first floating and sinking cylinder 1 filled with buffer liquid is usually placed inside the non-contact displacement sensor 13. The present invention determines the starting point and rotation distance of the rotation of the rotating disk 2 through the non-contact displacement sensor 13, and moves the floating and sinking cylinder 1 to the position corresponding to the clamping robotic arm 5, the salvage robotic arm 10, and the density adjustment robotic arm 14 through the rotation of the rotating disk 2.

[0081] In a preferred embodiment of the present invention, in step S1, the bottom barrel 3 is placed on the raw material conveyor belt 4, and the raw material conveyor belt 4 conveys the bottom barrel 3 filled with coal to the fixed position clamped by the clamping robotic arm 5.

[0082] During the process of step S5, the lifting conveyor belt 8 moves up and down through the elevator 17 to face the bottom screen 18 on the multi-layer bottom screen rack 9. The lifting conveyor belt 8 reverses to make the permanent magnet attract the bottom screen 18, pulls out the bottom screen 18 from the multi-layer bottom screen rack 9, and conveys it to the center position of the conveyor belt. The lifting conveyor belt 8 moves up and down to the same height position as the floating and sinking cylinder 1.

[0083] Step S5 is repeated 1 - 2 times to ensure that all the floating materials are salvaged, and then the salvage of the second floating and sinking cylinder 1 ends. Then, the clamping robotic arm 5 places the bottom barrel 3 into another floating and sinking cylinder 1 for floating and sinking, and then repeats step S5 to salvage the floating materials. The bottom barrel 3 is placed into different floating and sinking cylinders 1 in ascending order of the density level of the density liquid until a floating and sinking test is completed. Then, the clamping robotic arm 5 places the bottom barrel 3 back on the raw material conveyor belt 4, and then clamps another bottom barrel 3 filled with coal for the next floating and sinking test.

[0084] After step S5 is completed, the lifting conveyor belt 8 conveys the bottom screen 18 to the multi-layer bottom screen rack 9 through forward rotation.

[0085] The raw material conveyor belt 4 of the present invention can continuously convey multiple bottom barrels 3, and the lifting conveyor belt 8 cooperating with the elevator 17 can pick up and place multiple bottom screens 18, facilitating the continuous conduct of floating and sinking experiments with multiple different density levels.

[0086] In a preferred embodiment of the present invention, the lifting conveyor belt 8 places the mesh-bottom sieves 18 on the multi-layer mesh-bottom sieve rack 9 layer by layer from top to bottom according to the density level from low to high.

[0087] The lifting conveyor belt 8 of the present invention cooperates with the multi-layer mesh-bottom sieve rack 9 to be able to complete the picking and placing of multiple mesh-bottom sieves 18, facilitating the continuous conduct of float-sink experiments with multiple different density levels.

[0088] In a preferred embodiment of the present invention, an alternative solution for the umbrella control mechanism is provided. The umbrella control mechanism includes a driver 1008 and a right-angle hook 1007. The driver 1008 is a lifting cylinder, which is installed at the front end of the bracket. The telescopic end of the lifting cylinder is fixedly connected to the right-angle hook 1007. The lower side of the right-angle hook 1007 is a notch plate 1010 into which the upper end of the sliding sleeve 1502 can be inserted. The upper part of the sliding sleeve 1502 is provided with an external thread section 1508. The upper end of the external thread section 1508 is coaxially welded with an upper clamping plate 1511. A lower clamping plate 1510 is sleeved on the external thread section 1508. A fastening nut 1509 located below the lower clamping plate 1510 is screwed on the external thread section 1508. The notch plate 1010 is clamped by the upper clamping plate 1511 and the lower clamping plate 1510.

[0089] In a preferred embodiment of the present invention, a telescopic mechanism installed at the front part of the crossbeam II 1005 is provided. The telescopic mechanism includes a plurality of mutually parallel slide rails 1013 laid on the front surface of the crossbeam II 1005. A slider 1006 that can slide back and forth on the slide rails 1013 is sleeved on the front part of the crossbeam II 1005. The driver 1008 is installed on the slider 1006. A through-strip opening 1014 corresponding to the driver 1008 is opened at the front part of the crossbeam II 1005. The worm of the worm motor or the telescopic end of the lifting cylinder passes through the through-strip opening 1014. A telescopic cylinder 1011 and a guiding plate 1012 are provided on the upper surface of the rear part of the crossbeam II 1005. The telescopic end of the telescopic cylinder 1011 passes through the guiding plate 1012 and is connected to the rear end of the slider 1006. The upper end of the sliding rod 1501 is fixedly connected to the slider 1006. The nozzle is installed at the front end of the slider 1006. The solution setting of this embodiment can adjust the length of the salvage robotic arm 10. This solution is also applicable to the clamping robotic arm 5 and the density adjustment robotic arm 14, and can improve the applicable range of the float-sink experiment system of the present invention.

[0090] Description of the above embodiments:

[0091] After the flotation and sinking operation of the present invention is completed once, the clamping manipulator 5 is placed back into the wire-bottom barrel 3 of the raw material conveyor belt 4 for manual rinsing. Of course, the wire-bottom barrel 3 can also be rinsed by installing a separate nozzle. Then, the wire-bottom barrel 3 containing the sinking materials, the wire-bottom sieve 18 containing the floating materials, and the slime barrel 6 containing the slime are processed to measure the specific data required for the flotation and sinking experiment. This step is still currently manually completed, and its operation method can follow the existing operating procedures for the flotation and sinking experiment. Finally, clean wire-bottom barrels 3, slime barrels 6, and wire-bottom sieves 18 are replaced to prepare for the next flotation and sinking test.

[0092] During the actual operation process, the bottoms of the wire-bottom barrel 3 and the wire-bottom sieve 18 are made of a sieve mesh with a pore diameter of 0.5 mm, and the umbrella-shaped mesh cloth 1504 is made of a mesh cloth with a pore diameter of 0.5 mm. This is a setting that conforms to the national standard.

[0093] The above embodiments are used to explain the present invention, rather than limit the present invention. Any modifications and changes made to the present invention within the spirit and scope of the protection of the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A fully automatic floating and sinking test system, characterized in that, It includes a rotating disk (2), a slime flushing nozzle (7), a slime bucket (6), multiple floating and sinking cylinders (1), multiple screen-bottom buckets (3) and multiple screen-bottom sieves (18). All the floating and sinking cylinders (1) are evenly arranged on the rotating disk (2). The slime bucket (6), the slime flushing nozzle (7), the screen-bottom buckets (3) and the screen-bottom sieves (18) are arranged outside the rotating disk (2). A non-contact displacement sensor (13) is provided at the upper edge of the rotating disk (2). The slime flushing nozzle (7) is located above the slime bucket (6). It further includes: A newspaper clamping manipulator: It can move the screen-bottom bucket (3) between the slime flushing nozzle (7) and the slime bucket (6), can move the screen-bottom bucket (3) into and out of the floating and sinking cylinder (1), and can put the screen-bottom bucket (3) back to its original position; A density adjustment manipulator: It can prepare the density liquid filled into the floating and sinking cylinder (1) according to the required density level, or adjust the density level of the existing density liquid in the floating and sinking cylinder (1); Specifically, it includes a stock solution pipe (1408) connected to the stock solution cylinder (11), a clear water pipe (1409) connected to the water source, a waste liquid pipe (1410) connected to the waste liquid cylinder (12), and a stirrer; The output ends of the stock solution pipe (1408) and the clear water pipe (1409) can be moved above the floating and sinking cylinder (1), and the input end of the waste liquid pipe (1410) can enter below the liquid level in the floating and sinking cylinder (1); The stirrer can be lowered below the liquid level of the density liquid in the floating and sinking cylinder (1); A salvage manipulator: It includes a hydraulic cylinder II (1001), a rotating motor II (1002), a force arm II (1003) and a cross beam II (1005) connected in sequence, and a salvage umbrella (15) that can enter the floating and sinking cylinder (1) to fish out the floating materials and pour them into the screen-bottom sieve (18); The salvage umbrella (15) includes a sliding rod (1501), a sliding sleeve (1502), a canopy mesh cloth (1504), multiple long umbrella ribs (1505) and multiple short umbrella ribs (1506). The upper end of the sliding rod (1501) is connected to the front end of the cross beam II (1005). The sliding sleeve (1502) is sleeved on the sliding rod (1501). The long umbrella ribs (1505) are evenly arranged and fixed under the canopy mesh cloth (1504); A worm motor and a right-angle hook (1007) are provided at the front end of the cross beam II (1005). A spiral groove matching the worm of the worm motor is provided on the inner surface of the right-angle hook. One side of the right-angle hook (1007) is fixedly connected to the upper end of the sliding sleeve (1502).

2. The fully automatic floating and sinking test system according to claim 1, wherein, Outside the rotating disk (2), there is also arranged a raw material conveyor belt (4) for conveying the screen-bottom bucket (3), a screen-bottom sieve (18) located for the lifting conveyor belt (8) to convey, and a multi-layer screen-bottom sieve rack (9) for placing the screen-bottom sieve (18). A permanent magnet capable of magnetically attracting the screen-bottom sieve (18) on the multi-layer screen-bottom sieve rack (9) is provided on the surface of the lifting conveyor belt (8). The lifting conveyor belt (8) is installed on the elevator (17). The salvage umbrella (15) can move above the screen-bottom sieve (18) on the lifting conveyor belt (8).

3. The fully automatic floating and sinking test system according to claim 1, wherein The newspaper clamping robotic arm includes a hydraulic cylinder I (501), a rotary motor I (502), a force arm I (503), and a crossbeam I (504) connected in sequence. An exciter I (506) is provided on the crossbeam I (504), and a gripping mechanism (505) for gripping the mesh-bottom barrel (3) is connected to the front end of the crossbeam I (504).

4. The fully automatic sinking and floating test system according to claim 1, wherein, The density adjustment robotic arm (14) further includes a hydraulic cylinder III (1407), a rotary motor III (1401), a force arm III (1402), and a crossbeam III (1406). The stock solution pipe (1408), the clean water pipe (1409), and the waste liquid pipe (1410) are arranged on the crossbeam III (1406); a stirrer (1403) is arranged on the lower side of the front end of the crossbeam III (1406); a liquid level gauge (1404) and a density gauge (1405) are also arranged on the lower side of the front end of the crossbeam III (1406); The stock solution cylinder (11) and the waste liquid cylinder (12) are arranged outside the rotating disk (2); a stock solution pump, a solenoid valve I, and a flowmeter I are provided on the stock solution pipe (1408), a solenoid valve II and a flowmeter II are provided on the clean water pipe (1409), and a solenoid valve III and a waste liquid pump are provided on the waste liquid pipe (1410); The output ends of the stock solution pipe (1408) and the clean water pipe (1409) can be moved above the floating and sinking cylinder (1), specifically, the output ends of the stock solution pipe (1408) and the clean water pipe (1409) are moved above the floating and sinking cylinder (1) through the adjustment of the density adjustment robotic arm (14); The input end of the waste liquid pipe (1410) can enter below the liquid level in the floating and sinking cylinder (1), specifically, the input end of the waste liquid pipe (1410) enters below the liquid level in the floating and sinking cylinder (1) through the adjustment of the density adjustment robotic arm (14).

5. The fully automatic floating and sinking test system according to claim 1, wherein The salvage robotic arm (10) further includes a salvage spray head (1009), and the water spraying end of the salvage spray head (1009) is located above the salvage umbrella (15).

6. The fully automatic floating and sinking test system according to claim 1, wherein, The axes of the salvage umbrella (15) and the hydraulic cylinder are parallel to each other; the salvage umbrella (15) further includes a sliding honeycomb (1503) and a fixed honeycomb (1507). The fixed honeycomb (1507) is coaxially connected to the lower end of the sliding rod (1501). One end of a short umbrella rib (1506) is hinged to the fixed honeycomb (1507), and the other end of one short umbrella rib (1506) is hinged to the middle of a long umbrella rib (1505). The sliding honeycomb (1503) is sleeved on the sliding rod (1501), and the sliding honeycomb (1503) is fixedly connected to the lower end of the sliding sleeve (1502). One end of the long umbrella rib (1505) is hinged to the sliding honeycomb (1503); The upper end of the sliding rod (1501) is vertically connected to the lower surface of the front end of the crossbeam II (1005).

7. The test method of the fully automatic floating and sinking test system according to any one of claims 1-6, characterized in that, It includes the following steps, S1: Recover the slime in the coal: Put the coal into the mesh-bottom barrel (3). The clamping and holding robotic arm (5) rotates and descends, clamps the mesh-bottom barrel (3), lifts and rotates above the slime barrel (6), and descends into the slime barrel (6). The slime flushing spray head (7) starts to spray water, the exciter I (506) is turned on and vibrates continuously. The flushing time of the slime flushing spray head (7) is set to 2 - 10 minutes to complete the slime recovery; S2: The density level of the density liquid in the float-sink cylinder (1) is adjusted: the density adjustment robot arm (14) descends to below the liquid surface of the density liquid in the float-sink cylinder (1), the stirrer (1403) starts stirring for 1-2 minutes, the density meter (1405) detects the density, and the liquid level meter (1404) detects the liquid level; The amount of stock liquid to be added is calculated based on the density and the liquid level meter (1404). If the density is lower than the required density, the solenoid valve I is opened, and the stock liquid is discharged into the floating cylinder (1) through the stock liquid pump and the stock liquid pipe (1408), and the flow meter I measures it. At the same time, the liquid level is adjusted according to the liquid level of the liquid level meter (1404). If it is lower than the specified value, the calculated amount of clean water and stock liquid is added. If it is higher than the liquid level requirement, the solenoid valve III is opened, the waste liquid pump is operated, and the waste liquid pipe (1410) sucks out the excess density liquid in the floating cylinder (1) and discharges it into the waste liquid tank (12), until the density level of the density liquid in the floating cylinder (1) is fully adjusted. S3: The coal from which the coal slime has been recovered is placed in a buffer solution for immersion: the density levels of the density liquids in all the floating and sinking cylinders (1) are different, wherein the density level of the density liquid in the first floating and sinking cylinder (1) is the lowest and is used as a buffer solution. Before a floating and sinking experiment, the density adjustment robot arm (14) needs to complete the preparation of the density level of the buffer solution, and the clamping robot arm (5) places the net bottom bucket (3) from which the coal slime has been recovered into the buffer solution in the first floating and sinking cylinder (1) for immersion; S4: Float and sink the soaked coal: the clamping mechanical arm (5) puts the net bottom bucket (3) into the buffer solution for soaking and then lifts it up, the vibrator I (506) vibrates until the coal is drained, and the clamping mechanical arm (5) puts the soaked net bottom bucket (3) into the density liquid of the next floating and sinking cylinder (1) for floating and sinking, and the low-density material floats up; S5: salvage the floating materials: the salvage mechanical arm (10) rotates to the top of the net bottom barrel (3), driving the salvage umbrella (15) in the upward retracted state to descend, so that the umbrella mesh (1504) is immersed below the liquid surface, and the umbrella control mechanism drives the sliding honeycomb (1503) to move upward, and the salvage umbrella (15) slowly opens. At the same time, the salvage mechanical arm (10) needs to ensure that the umbrella mesh (1504) remains below the liquid surface, and the umbrella mesh (1504) finally overlaps with the inner wall of the net bottom barrel (3); The salvaging mechanical arm (10) rises, and the umbrella mesh (1504) on the salvaging umbrella (15) removes the floating objects from the net bottom bucket (3), and the vibrator II (1004) is turned on to filter out the density liquid remaining in the floating materials; The salvage manipulator (10) rotates above the bottom screen (18). The umbrella control mechanism drives the sliding honeycomb (1503) to continue rising, and the umbrella surface mesh (1504) gradually reverses to a reverse closed state. The floating materials fall into the bottom screen (18). The salvage nozzle (1009) starts to spray water to wash the floating materials on the umbrella surface mesh (1504) and the density liquid that has fallen into the bottom screen (18) clean. The umbrella control mechanism drives the sliding honeycomb (1503) to move downward, so that the umbrella surface mesh (1504) of the salvage umbrella (15) returns to the upward closed state. After the floating materials in the bottom barrel (3) are completely salvaged, the clamping manipulator (5) places the bottom barrel (3) into another floating and sinking tank (1) with a higher density level of the density liquid.

8. The test method of the fully automatic floating and sinking test system according to claim 7, characterized in that, In step S1, the bottom barrel (3) is placed on the raw material conveyor belt (4). The raw material conveyor belt (4) conveys the bottom barrel (3) containing coal to the fixed position clamped by the clamping manipulator (5). During the process of step S5, the lifting conveyor belt (8) moves up and down through the elevator (17) to be opposite to the bottom screen (18) on the multi-layer bottom screen rack (9). The lifting conveyor belt (8) reverses to make the permanent magnet attract the bottom screen (18), pulls out the bottom screen (18) from the multi-layer bottom screen rack (9), and conveys it to the center position of the conveyor belt. The lifting conveyor belt (8) moves up and down to the same height position as the floating and sinking tank (1). Step S5 is repeated 1 - 2 times to ensure that the floating materials are completely salvaged, and then the salvage ends. Then the clamping manipulator (5) places the bottom barrel (3) into another floating and sinking tank (1) for floating and sinking. Then step S5 is repeated to salvage the floating materials. The bottom barrel (3) is placed into different floating and sinking tanks (1) in ascending order of the density level of the density liquid until a floating and sinking test is completed. Then the clamping manipulator (5) places the bottom barrel (3) back on the raw material conveyor belt (4), and then clamps another bottom barrel (3) containing coal for the next floating and sinking test. After step S5 is completed, the lifting conveyor belt (8) conveys the bottom screen (18) to the multi-layer bottom screen rack (9) by forward rotation.

9. The test method of the full-automatic sinking and floating test system according to claim 8, characterized in that, The lifting conveyor belt (8) places the bottom screens (18) on the multi-layer bottom screen rack (9) layer by layer from top to bottom in ascending order of the density level.

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