High-precision clamping jaw type ore sorting equipment

Abstract

The invention discloses high-precision clamping jaw type ore sorting equipment, and relates to the field of ore sorting equipment, the high-precision clamping jaw type ore sorting equipment comprises a blanking unit, a conveying unit, an ore identifying and sorting unit, a storage conveying unit and a control unit; the discharging unit comprises a supporting frame and a discharging hopper arranged on the supporting frame. The conveying unit comprises a first conveying belt and a second conveying belt; the ore identifying and sorting unit comprises an ore identifying device, an ore grabbing device, a vibrating device and a moving device; the ore identifying device comprises an industrial identifying camera; the moving device comprises a moving seat, a lifting part and a rotary connecting block, the ore grabbing device and the vibrating device are arranged on the rotary connecting block, the control unit controls the moving seat to move to enable the ore grabbing device to grab, and the vibrating device is used for vibrating off slag on grabbed ore; the moving seat moves to one side of the second conveying belt, so that the ore grabbing device places the ore on the second conveying belt; and the shape, weight and posture of the ore can be accurately sensed in real time, and the ore is grabbed.

Description

Technical Field

[0001] The invention relates to the field of ore sorting equipment, and in particular to a high-precision clamping claw type ore sorting equipment. Background Art

[0002] Ore is a solid mineral formed naturally in the earth's crust. It has many types and a wide range of uses. Since the grade and value of ores vary, they need to be sorted to separate valuable minerals from useless minerals. At present, some companies still rely mainly on manual beneficiation, which has many obvious disadvantages. On the one hand, its efficiency is low, and its reliance on manpower leads to limited processing speed, which cannot meet the needs of large-scale ore sorting. On the other hand, its accuracy is poor, and it is difficult to achieve high-precision sorting due to human judgment and experience. At the same time, the labor intensity is high, requiring a lot of manpower input, which can easily cause fatigue and sorting errors. In addition, the working environment is poor, and the beneficiation process produces a lot of dust and other harmful substances, which seriously damages the health of workers.

[0003] In the traditional ore sorting process, gravity sorting, magnetic sorting or blowing sorting are usually used. Application No. CN202011268162.5 authorizes an ore sorting device used in mining. The ore sorting equipment has multiple arc-shaped screening slots, and the mesh size increases step by step to sort ores of different particle sizes. Because it contains multiple running parts, the mechanism may generate large noise and vibration during operation, which has a certain impact on the working environment and operators. At the same time, although the design takes into account the cleaning chamber to collect the unfiltered stones, in actual operation, a small amount of stone may still remain in the screening slot or other corners of the equipment, causing the sorting port to be blocked, affecting the sorting efficiency and accuracy of the equipment. Application No. CN202211393948.9 discloses a high-precision blowing mining sorting system and sorting method. The ore sorting equipment is mainly composed of a conveyor belt, an identification module and a blowing device. Its structural feature is that the identification module accurately identifies the characteristics of the mineral and achieves efficient sorting through the blowing device. However, the nozzles in the spraying device are arranged in a single row, and the nozzle spacing is large, which leads to leakage or inaccurate spraying when processing fine mineral particles, affecting the sorting accuracy. At the same time, the spraying effect is not good for large ores with irregular shapes and uneven quality, and it is not competent for the sorting of large ores. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a high-precision gripper-type ore sorting equipment, which integrates advanced sensor technology and precise control algorithms, senses the position, shape and weight of the ore in real time, and accurately controls the movement trajectory, opening and closing timing and force of the gripper to achieve efficient and accurate ore sorting. This technology has a high degree of automation and significantly improves sorting efficiency and accuracy.

[0005] The present invention provides a high-precision claw-type ore sorting device adopts the following technical solutions:

[0006] A high-precision jaw-type ore sorting device, comprising a feeding unit, a conveying unit, an ore identification and sorting unit, a storage and conveying unit and a control unit;

[0007] The material discharging unit comprises a support frame and a material discharging hopper arranged on the support frame;

[0008] The conveying unit includes a first conveying belt arranged below the discharge port of the lower hopper and a second conveying belt arranged on one side of the first conveying belt;

[0009] The ore identification and sorting unit includes an ore identification device, an ore grabbing device, a vibrating device and a moving device. The ore identification device includes an industrial identification camera arranged above the first conveyor belt. The industrial identification camera is used to identify the shape, size and posture of the ore and transmit the information to the control unit.

[0010] The moving device comprises a moving seat, a lifting member arranged on the moving seat and a rotating connection block arranged on the lifting member, the lifting member is used to drive the rotating connection block to move up and down, the ore grabbing device and the vibration device are arranged on the rotating connection block, the control unit controls the moving seat to move to one side of the first conveyor belt so that the ore grabbing device grabs the ore that meets the requirements, the vibration device is used to shake off the slag on the grabbed ore, and the moving seat moves to one side of the second conveyor belt so that the ore grabbing device puts the ore on the second conveyor belt;

[0011] The storage and conveying unit comprises an impurity storage box arranged at the discharge end of the first conveyor belt and an ore storage box arranged at the discharge end of the second conveyor belt.

[0012] Furthermore, the vibration device includes a main vibration mechanism, a first connecting plate, a secondary vibration mechanism and a second connecting plate arranged at the end of the rotating connecting block, and a vibration device and an ore grabbing device are arranged at both ends of the rotating connecting block. The secondary vibration mechanism is arranged at the end of the rotating connecting block, and the main vibration mechanism is connected to the secondary vibration mechanism through the first connecting plate. The main vibration mechanism includes a main vibration outer frame and a vibration motor arranged in the main vibration outer frame. The top of the second connecting plate is arranged in the main vibration outer frame, and the ore grabbing device is installed at the bottom of the second connecting plate.

[0013] Furthermore, the main vibration mechanism also includes a main vibration inner frame arranged in the main vibration outer frame, a main vibration block and a connecting rod group arranged in the main vibration inner frame, the output shaft of the vibration motor is connected to the main vibration block through the connecting rod group, the second connecting plate is installed at the bottom of the main vibration block, and main vibration outer shafts are arranged on both sides of the main vibration inner frame. The main vibration outer shaft slides through the side wall of the main vibration outer frame, and a main vibration outer spring is sleeved on the main vibration outer shaft, and the two ends of the main vibration outer spring are respectively connected to the outer wall of the main vibration inner frame and the inner wall of the main vibration outer frame.

[0014] Furthermore, a main vibration inner shaft is vertically arranged in the main vibration inner frame, the main vibration inner shaft passes through two ends of the main vibration block and the two ends are fixed on the upper and lower inner walls of the main vibration inner frame, the two ends of the main vibration block are slidably arranged on the main vibration inner shaft, and main vibration inner springs are arranged on the upper and lower sides of the main vibration block, the main vibration inner springs are sleeved on the main vibration inner shaft and the ends are connected to the main vibration block and the main vibration inner frame.

[0015] Furthermore, the sub-vibration mechanism includes a sub-vibration frame fixed to the end of the rotating connecting block and a sub-vibration block arranged in the sub-vibration frame, the first connecting plate is arranged at the upper and lower ends of the sub-vibration block and is connected to the main vibration outer frame, a sub-vibration shaft passing through the sub-vibration block is arranged in the sub-vibration frame along the horizontal direction, the sub-vibration block is slidably arranged on the sub-vibration shaft, and sub-vibration springs are sleeved on both ends of the sub-vibration block on the sub-vibration shaft, and both ends of the sub-vibration spring are connected to the sub-vibration block and the sub-vibration frame.

[0016] Furthermore, the ore grabbing device includes a driving mechanism and a jaw actuator, the driving mechanism includes a driving box outer frame arranged at the bottom end of the second connecting plate, a driving box frame arranged in the driving box outer frame, a driving motor arranged on the driving box frame, a worm arranged at the output end of the driving motor, a turbine matched with the worm gear, a driving gear coaxially arranged with the turbine, and a rack slidably arranged on both sides of the driving gear, the tooth surface of the rack is meshed with the driving gear, and the two racks can be driven to move in opposite directions on the driving box frame, the jaw actuator includes mechanical jaws arranged on both sides of the driving box frame and a jaw connecting rod arranged on the mechanical jaw, the jaw connecting rod is hinged with the rack, connecting brackets are arranged on both sides of the driving box frame at an angle downward, a connecting handle is arranged on the mechanical jaw on one side of the jaw connecting rod, and the jaw connecting rod, the connecting bracket and the connecting handle are hinged through the same rotating shaft.

[0017] Furthermore, the mechanical gripper comprises a plurality of gripper fingers, and the gripper fingers are provided with long strip-shaped through holes in the opposite direction of their own length, and a toothed belt and a support column for supporting the toothed belt are provided in the through hole, and the mechanical gripper is provided with a belt drive assembly for driving the toothed belt to roll in the through hole, and the belt drive assembly comprises a belt drive motor and a toothed belt shaft cooperating with the belt drive motor, and the toothed belt shaft passes through the top of all the toothed belts and cooperates with the toothed belt transmission.

[0018] Furthermore, the ore grabbing device also includes a buffer mechanism arranged at both ends of the driving box frame, the buffer mechanism includes a vertical buffer frame and an ore baffle plate arranged on the vertical buffer frame, the ore baffle plate is arranged in an arc shape with the arc surface facing the ore, a vertical buffer shaft passing through the ore baffle plate is vertically arranged in the vertical buffer frame, the ore baffle plate is arranged on the vertical buffer shaft for sliding up and down, and vertical buffer springs are arranged on the upper and lower sides of the ore baffle plate on the vertical buffer shaft, and both ends of the vertical buffer spring are connected to the ore baffle plate and the vertical buffer shaft.

[0019] Furthermore, the buffer mechanism also includes a transverse buffer frame fixed at both ends of the drive box frame and a buffer plate arranged on the transverse buffer frame, the buffer plate is connected to the vertical buffer frame, and a transverse buffer shaft passing through the buffer plate is arranged in the transverse buffer frame along the horizontal direction, the transverse buffer shaft is slidably arranged on the transverse buffer shaft, and transverse buffer springs are sleeved on both sides of the transverse buffer shaft at the buffer plate, and both ends of the transverse buffer spring are connected to the transverse buffer frame and the buffer plate.

[0020] Furthermore, it also includes a dust suction device arranged on the drive box frame, and the dust suction device includes a dust suction drive motor and a dust collector.

[0021] In summary, the present invention comprises at least one of the following beneficial effects:

[0022] 1. Recognition accuracy: Based on advanced sensor technology and high-precision industrial cameras, it can accurately perceive the shape, weight and posture of ore in real time. Excellent and fast visual recognition ability is a crucial prerequisite for accurate ore grabbing;

[0023] 2. Grasping accuracy: With advanced visual recognition technology, the shape, weight, and posture of the ore can be quickly obtained. Combined with precise control algorithms, the gripper movement is precisely controlled. The gripper has high adaptability and stability, which greatly improves the accuracy of ore sorting;

[0024] 3. Sorting efficiency: By setting up two groups of ore grabbing devices, when one group of grabbing devices completes the grabbing task and is about to return, the other group of grabbing devices immediately starts a new grabbing task. The two groups of grabbing devices work alternately and continuously to greatly improve the ore sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of an ore identification and sorting unit according to an embodiment of the present invention;

[0027] Figure 3 for Figure 2 A magnified view of part A;

[0028] Figure 4 for Figure 2 A magnified view of part B;

[0029] Figure 5 for Figure 2 Enlarged view of part C;

[0030] Figure 6 It is a structural schematic diagram of a driving mechanism according to an embodiment of the present invention;

[0031] Figure 7 It is a schematic structural diagram of the clamping jaw actuator according to an embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 1. Unloading unit; 11. Support frame; 12. Unloading hopper; 2. Conveying unit; 21. First conveyor belt; 22. Second conveyor belt; 3. Storage and conveying unit; 31. Impurity storage box; 32. Ore storage box; 4. Control unit; 5. Ore identification device; 51. Industrial identification camera; 52. Mounting frame; 6. Ore grabbing device; 61. Driving mechanism; 611. Driving box outer frame; 612. Driving box frame; 613. drive motor; 614, worm; 615, turbine; 616, rack; 617, connecting bracket; 618, driving gear; 619, rack frame; 62, gripper actuator; 621, mechanical gripper; 622, gripper connecting rod; 623, toothed belt; 624, support column; 625, belt drive assembly; 6251, belt drive motor; 6252, toothed belt shaft; 63, buffer mechanism; 631, vertical buffer frame; 63 11. Vertical buffer shaft; 6312. Vertical buffer spring; 632. Ore baffle; 633. Horizontal buffer frame; 6331. Horizontal buffer shaft; 6332. Horizontal buffer spring; 634. Connecting plate; 7. Vibration device; 71. Main vibration mechanism; 711. Main vibration outer frame; 712. Vibration motor; 713. Main vibration inner frame; 714. Main vibration block; 715. Connecting rod group; 716. Main vibration outer shaft; 71 7. Main vibration outer spring; 718. Main vibration inner shaft; 719. Main vibration inner spring; 72. First connecting plate; 73. Auxiliary vibration mechanism; 731. Auxiliary vibration frame; 732. Auxiliary vibration block; 733. Auxiliary vibration shaft; 734. Auxiliary vibration spring; 74. Second connecting plate; 8. Moving device; 81. Moving seat; 82. Lifting member; 83. Rotating connecting block; 9. Dust suction device; 91. Dust suction drive motor; 92. Vacuum cleaner. DETAILED DESCRIPTION

[0034] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0035] The following is combined with Figure 1-7 The present invention is described in further detail.

[0036] The embodiment of the present invention discloses a high-precision claw-type ore sorting device. Figure 1-Figure 7The high-precision gripper-type ore sorting equipment includes a feeding unit 1, a conveying unit 2, an ore identification and sorting unit, a storage and conveying unit 3 and a control unit 4, wherein the control unit 4 includes a control cabinet and a control panel; the feeding unit 1 includes a support frame 11 and a feeding hopper 12 arranged on the support frame 11; the conveying unit 2 includes a first conveyor belt 21 arranged below the discharge port of the feeding hopper 12 and a second conveyor belt 22 arranged on one side of the first conveyor belt 21; the ore identification and sorting unit includes an ore identification device 5, an ore grabbing device 6, a vibrating device 7 and a moving device 8, wherein the ore identification device 5 includes an industrial identification camera 51 and a mounting frame 52 arranged above the first conveyor belt 21, and the first conveyor belt 21 The industrial identification camera 51 is installed on the mounting frame 52 and passes through the bottom of the mounting frame 52. The industrial identification camera 51 is located near the middle of the first conveyor belt 21. The industrial identification camera 51 is used to identify the shape, size and posture of the ore and transmit the information to the control unit 4. The moving device 8 includes a moving seat 81, a lifting member 82 arranged on the moving seat 81 and a rotating connecting block 83 arranged on the lifting member 82. The lifting member 82 is used to drive the rotating connecting block 83 to move up and down. The moving seat 81 is a Mecanum wheel mobile cart, and the lifting member 82 is a lifting cylinder. The ore grabbing device 6 and the vibration device 7 are arranged on the rotating connecting block 83. The lifting member 82 drives the rotating connecting block 83 to move up and down. When moving downward, the height of the ore grabbing device 6 and the vibration device 7 can be adjusted to facilitate the grabbing and placing of the ore. The control unit 4 controls the moving seat 81 to move to the side of the first conveyor belt 21 so that the ore grabbing device 6 grabs the ore that meets the requirements. The vibration device 7 is used to shake off the slag on the grabbed ore. The moving seat 81 moves to the side of the second conveyor belt 22 so that the ore grabbing device 6 puts the ore on the second conveyor belt 22; the storage and conveying unit 3 includes an impurity storage box 31 arranged at the discharge end of the first conveyor belt 21 and an ore storage box 32 arranged at the discharge end of the second conveyor belt 22; the control unit 4 sends a signal to the moving device 8 according to the information transmitted by the industrial recognition camera 51, and the moving seat 81 moves to the side of the second conveyor belt 22 so that the ore grabbing device 6 puts the ore on the second conveyor belt 22. The movable seat 81 moves to one side of the first conveyor belt 21, and the rotating connecting block 83 rotates so that the ore grabbing device 6 is located above the ore that meets the requirements. The ore grabbing device 6 is moved downward by the lifting member 82 to grab the ore. After the grabbing is completed, the ore grabbing device 6 moves upward, and then the vibration device 7 vibrates to shake off the slag on the ore. The movable seat 81 moves toward the second conveyor belt 22, so that the ore grabbing device 6 moves above the second conveyor belt 22, and the ore is placed on the second conveyor belt 22 by the lifting member 82. The ore falls into the ore storage box 32 with the second conveyor belt 22, and the slag and ore that does not meet the requirements that fall on the first conveyor belt 21 fall into the impurity storage box 31 with the first conveyor belt 21.

[0037] In this embodiment, the vibration device 7 includes a main vibration mechanism 71, a first connecting plate 72, a secondary vibration mechanism 73 and a second connecting plate 74 arranged at the end of the rotating connection block 83. The vibration device 7 and the ore grabbing device 6 are arranged at both ends of the rotating connection block 83. By setting two groups of ore grabbing devices 6, when one group of ore grabbing devices 6 completes the grabbing task and is about to return, the other group of ore grabbing devices 6 immediately starts a new grabbing task. The two groups of ore grabbing devices 6 work alternately and continuously to greatly improve the ore sorting efficiency. The secondary vibration mechanism 73 is arranged at the end of the rotating connection block 83. The main vibration mechanism 71 is connected to the secondary vibration mechanism 73 through the first connecting plate 72. The main vibration mechanism 71 includes a main vibration outer frame 71 1. A vibration motor 712 is arranged in the main vibration outer frame 711. The top of the second connecting plate 74 is arranged in the main vibration outer frame 711. The ore grabbing device 6 is installed at the bottom of the second connecting plate 74. After the ore grabbing device 6 grabs the ore, the vibration motor 712 is started to vibrate the main vibration outer frame 711. The vibration is transmitted to the ore grabbing device 6 through the second connecting plate 74 to vibrate the grabbed ore, thereby ensuring that the grabbed ore surface is cleaner, reducing the weight error caused by the attachment of impurities and the impact on the subsequent sorting accuracy. At the same time, the cleaned ore can better contact with the ore grabbing device 6 when being grabbed, thereby improving the stability and reliability of grabbing and reducing the risk of ore falling during transportation.

[0038] In this embodiment, the main vibration mechanism 71 also includes a main vibration inner frame 713 arranged in the main vibration outer frame 711, a main vibration block 714 and a connecting rod group 715 arranged in the main vibration inner frame 713, the output shaft of the vibration motor 712 is connected to the main vibration block 714 through the connecting rod group 715, the short rod of the connecting rod group 715 is connected to the output end of the vibration motor 712, and the long rod is connected to the main vibration block 714, the second connecting plate 74 is installed at the bottom of the main vibration block 714, main vibration outer shafts 716 are arranged on both sides of the main vibration inner frame 713, the main vibration outer shaft 716 slides through the side wall of the main vibration outer frame 711, and the main vibration outer shaft 716 is sleeved with a main vibration outer spring 717. The two ends of the dynamic outer spring 717 are respectively connected to the outer wall of the main vibration inner frame 713 and the inner wall of the main vibration outer frame 711, so that the main vibration inner frame 713 can move along the main vibration outer axis 716 in the main vibration outer frame 711. During the movement, the main vibration outer spring 717 can generate a spring force on the main vibration inner frame 713, which can increase the vibration of the main vibration inner frame 713. When the vibration motor 712 is started, its own vibration can be transmitted to the main vibration outer frame 711, and the connecting rod group 715 at the output end can do work to the main vibration block 715, so that the main vibration block 714 can reciprocate in the main vibration inner frame 713. During the movement, the main vibration block 714 can drive the second connecting plate 74 to move, thereby vibrating the ore grabbing device 6.

[0039] In this embodiment, a main vibration inner shaft 718 is vertically arranged inside the main vibration inner frame 713, and the main vibration inner shaft 718 passes through the two ends of the main vibration block 714 and is fixed on the upper and lower inner walls of the main vibration inner frame 713. The two ends of the main vibration block 714 are slidably arranged on the main vibration inner shaft 718, and main vibration inner springs 719 are arranged on the upper and lower sides of the main vibration block 714. The main vibration inner springs 719 are sleeved on the main vibration inner shaft 718 and the ends are connected to the main vibration block 714 and the main vibration inner frame 713, so that the main vibration block 714 can move along the main vibration inner shaft 718 in the main vibration inner frame 713. During the movement, the main vibration inner spring 719 is squeezed and stretched, which can increase the vibration of the main vibration block 714 and achieve a better vibration effect.

[0040] In this embodiment, the sub-vibration mechanism 73 includes a sub-vibration frame 731 fixed to the end of the rotating connection block 83 and a sub-vibration block 732 arranged in the sub-vibration frame 731, the first connecting plate 72 is arranged at the upper and lower ends of the sub-vibration block 732 and is connected to the main vibration outer frame 711, and a sub-vibration shaft 733 passing through the sub-vibration block 732 is arranged in the sub-vibration frame 731 along the horizontal direction, the sub-vibration block 732 is slidably arranged on the sub-vibration shaft 733, and sub-vibration springs 734 are sleeved on the sub-vibration shaft 733 at both ends of the sub-vibration block 732, and the two ends of the sub-vibration spring 734 are connected to the sub-vibration block 732 and the sub-vibration frame 731, when the vibration motor 712 is started, it is transmitted to the sub-vibration block 732 through the first connecting plate 72, and the sub-vibration block 732 can move on the sub-vibration shaft 733 when it is vibrated, and the sub-vibration spring 734 is squeezed and stretched during the movement, and the sub-vibration frame 731 is impacted to generate vibration.

[0041] In this embodiment, the ore grabbing device 6 includes a driving mechanism 61 and a clamping claw actuator 62, wherein the driving mechanism 61 includes a driving box outer frame 611 arranged at the bottom end of the second connecting plate 74, a driving box frame 612 arranged in the driving box outer frame 611, a driving motor 613 arranged on the driving box frame 612, a worm 614 arranged at the output end of the driving motor 613, a turbine 615 drivingly matched with the worm 614, a driving gear 618 coaxially arranged with the turbine 615, and a gear 618 slidingly arranged between the driving gear 618 and the gear 619. The rack 616 on the side, the drive box frame 612 is provided with a rack frame 619, the rack 616 is slidably arranged in the rack frame 619, the drive box frame 612 is installed with a coupling, the coupling connects the output end of the drive motor 613 and the turbine 615, the tooth surface of the rack 616 is meshed with the driving gear 618, and the two racks 616 can be driven to move in opposite directions on the drive box frame 612, and the clamping jaw actuator 62 includes a mechanical clamping jaw 621 arranged on both sides of the drive box frame 612 and a mechanical clamping jaw 62 arranged on the mechanical clamping jaw 62 1, the clamping claw connecting rod 622 is hinged with the rack 616, the two sides of the drive box frame 612 are inclined downwardly provided with connecting brackets 617, and the mechanical clamping claw 621 is provided with a connecting handle on one side of the clamping claw connecting rod 622, and the clamping claw connecting rod 622, the connecting bracket 617 and the connecting handle are hinged through the same rotating shaft; when grabbing ore, the driving motor 613 is started, and the power is transmitted to the rack 616 through the worm 614 and the turbine 615, and the two racks 616 move to the two sides of the outer frame 611 of the drive box respectively. During the movement, the clamping claw connecting rod 622 is pushed to rotate the mechanical clamping claw 621 upward, so that the two mechanical clamping claws 621 are opened, and the ore is accommodated between the two mechanical clamping claws 621. At this time, the driving motor 613 stops and then reverses, so that the two racks 616 move inward, and the mechanical clamping claws 621 are turned downward, and the ore is clamped between the two mechanical clamping claws 621, and the ore is grasped. Similarly, when the ore is placed on the second conveyor belt 22, the two mechanical clamping claws 621 are controlled to open, the ore is loosened, and the ore is placed on the second conveyor belt 22.

[0042] In this embodiment, the mechanical gripper 621 includes a plurality of gripper fingers, and the gripper fingers are provided with long strip-shaped through holes in the opposite direction of their own length, and a toothed belt 623 and a support column 624 for supporting the toothed belt 623 are provided in the through hole. The mechanical gripper 621 is provided with a belt drive assembly 625 for driving the toothed belt 623 to roll in the through hole, and the belt drive assembly 625 includes a belt drive motor 6251 and a toothed belt shaft 6252 that cooperates with the belt drive motor 6251 in transmission, and the output end of the drive motor 6251 cooperates with the toothed belt shaft 6252 through a bevel gear transmission, and the toothed belt The shaft 6252 passes through the top of all the toothed belts 623 and cooperates with the toothed belts 623 in transmission. When the mechanical clamp 621 grabs the ore, the belt teeth on the toothed belt 623 can increase the friction of the mechanical clamp 621 on the ore and improve the grabbing stability. At the same time, the belt drive motor 6251 is started during grabbing, and the toothed belt 623 is rotated through the toothed belt shaft 6252, and the toothed belt 623 toward the inside of the mechanical clamp 621 moves upward, and the toothed belt 623 toward the outside of the mechanical clamp 621 moves downward, which can move the ore upward in the mechanical clamp 621, increase the stability of the ore grabbing, and make the ore grabbing more secure.

[0043] In this embodiment, the ore grabbing device 6 also includes a buffer mechanism 63 arranged at both ends of the driving box frame 612, and the buffer mechanism 63 includes a vertical buffer frame 631 and an ore baffle 632 arranged on the vertical buffer frame 631. The ore baffle 632 is arranged in an arc shape and the arc surface faces the ore. The ore baffle 632 is used to block the ore to prevent the ore from slipping during grabbing. A vertical buffer shaft 6311 passing through the ore baffle 632 is vertically arranged in the vertical buffer frame 631. The ore baffle 632 is slidably arranged on the vertical buffer shaft 6311 up and down. Vertical buffer springs 6312 are arranged on 6311 on the upper and lower sides of the ore baffle 632, and both ends of the vertical buffer spring 6312 are connected to the ore baffle 632 and the vertical buffer shaft 6311. The vertical buffer shaft 6311 and the vertical buffer spring 6312 give the ore baffle 632 a certain degree of freedom in the vertical direction, thereby improving the adaptability and flexibility of the ore grabbing device 6 when grabbing ore. When grabbing ore, the ore collides and squeezes the ore baffle 632, and the vertical buffer shaft 6311 and the vertical buffer spring 6312 can reduce the vertical force of the ore and play a role of vertical buffering.

[0044] In this embodiment, the buffer mechanism 63 also includes a transverse buffer frame 633 fixed at both ends of the drive box frame 612 and a buffer plate 634 arranged on the transverse buffer frame 633, the buffer plate 634 is connected to the vertical buffer frame 631, and a transverse buffer shaft 6331 passing through the buffer plate 634 is arranged in the horizontal direction in the transverse buffer frame 633, the transverse buffer shaft 6331 is slidably arranged on the transverse buffer shaft 6331, and the transverse buffer shaft 6331 is sleeved with transverse buffer plates 634 on both sides. The transverse buffer spring 6332 has two ends connected to the transverse buffer frame 633 and the buffer plate 634. The transverse buffer shaft 6331 and the transverse buffer spring 6332 give the ore baffle 632 a certain degree of freedom in the transverse direction, thereby improving the adaptability and flexibility of the ore grabbing device 6 when grabbing ore. When grabbing ore, the ore collides and squeezes the ore baffle 632. The transverse buffer shaft 6331 and the transverse buffer spring 6332 can reduce the lateral force of the ore and play a role of lateral buffering.

[0045] In this embodiment, a dust suction device 9 is also included, which is arranged on the drive box frame 612. The dust suction device 9 includes a dust suction drive motor 91 and a dust collector 92. The dust suction drive motor 91 is installed inside the drive box frame 612, and the dust collector 92 is arranged at the bottom of the drive box frame 612. The dust suction device 9 can absorb dust and other impurities generated when the ore is shaken, effectively prevent dust from spreading, make the working environment cleaner, and avoid affecting surrounding equipment and operators. In addition, timely absorption of dust and other impurities can also reduce the interference of impurities on the ore sorting accuracy, and improve the working efficiency and stability of the sorting equipment.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A high-precision jaw-type ore sorting equipment, characterized by: It comprises a material unloading unit (1), a conveying unit (2), an ore identification and sorting unit, a storage and conveying unit (3) and a control unit (4); The material discharging unit (1) comprises a support frame (11) and a material discharging hopper (12) arranged on the support frame (11); The conveying unit (2) comprises a first conveying belt (21) arranged below the discharge port of the lower hopper (12) and a second conveying belt (22) arranged on one side of the first conveying belt (21); The ore identification and sorting unit comprises an ore identification device (5), an ore grabbing device (6), a vibrating device (7) and a moving device (8); the ore identification device (5) comprises an industrial identification camera (51) arranged above the first conveyor belt (21); the industrial identification camera (51) is used to identify the shape, size and position of the ore and transmit the information to the control unit (4); The moving device (8) comprises a moving seat (81), a lifting member (82) arranged on the moving seat (81) and a rotating connection block (83) arranged on the lifting member (82); the lifting member (82) is used to drive the rotating connection block (83) to move up and down; the ore grabbing device (6) and the vibration device (7) are arranged on the rotating connection block (83); the control unit (4) controls the moving seat (81) to move to the side of the first conveyor belt (21) so that the ore grabbing device (6) grabs the ore that meets the requirements; the vibration device (7) is used to shake off the slag on the grabbed ore; the moving seat (81) moves to the side of the second conveyor belt (22) so that the ore grabbing device (6) places the ore on the second conveyor belt (22); The storage and conveying unit (3) comprises an impurity storage box (31) arranged at the discharge end of the first conveyor belt (21) and an ore storage box (32) arranged at the discharge end of the second conveyor belt (22).

2. The high-precision jaw-type ore sorting equipment according to claim 1 is characterized in that: The vibration device (7) comprises a main vibration mechanism (71), a first connection plate (72), a secondary vibration mechanism (73) and a second connection plate (74) arranged at the end of a rotating connection block (83); the vibration device (7) and an ore grabbing device (6) are arranged at both ends of the rotating connection block (83); the secondary vibration mechanism (73) is arranged at the end of the rotating connection block (83); the main vibration mechanism (71) is connected to the secondary vibration mechanism (73) through the first connection plate (72); the main vibration mechanism (71) comprises a main vibration outer frame (711) and a vibration motor (712) arranged in the main vibration outer frame (711); the top of the second connection plate (74) is arranged in the main vibration outer frame (711); and the ore grabbing device (6) is installed at the bottom of the second connection plate (74).

3. The high-precision jaw-type ore sorting equipment according to claim 2 is characterized in that: The main vibration mechanism (71) also includes a main vibration inner frame (713) arranged in the main vibration outer frame (711), a main vibration block (714) and a connecting rod group (715) arranged in the main vibration inner frame (713); the output shaft of the vibration motor (712) is connected to the main vibration block (714) through the connecting rod group (715); the second connecting plate (74) is installed at the bottom of the main vibration block (714); main vibration outer shafts (716) are arranged on both sides of the main vibration inner frame (713); the main vibration outer shafts (716) slide through the side walls of the main vibration outer frame (711); a main vibration outer spring (717) is sleeved on the main vibration outer shaft (716); and two ends of the main vibration outer spring (717) are respectively connected to the outer wall of the main vibration inner frame (713) and the inner wall of the main vibration outer frame (711).

4. The high-precision jaw-type ore sorting equipment according to claim 3 is characterized in that: A main vibration inner shaft (718) is vertically arranged in the main vibration inner frame (713); the main vibration inner shaft (718) passes through two ends of the main vibration block (714) and is fixed to the upper and lower inner walls of the main vibration inner frame (713); the two ends of the main vibration block (714) are slidably arranged on the main vibration inner shaft (718); main vibration inner springs (719) are arranged on the upper and lower sides of the main vibration block (714); the main vibration inner springs (719) are sleeved on the main vibration inner shaft (718) and the ends of the main vibration block (714) are connected to the main vibration block (714) and the main vibration inner frame (713).

5. The high-precision jaw-type ore sorting equipment according to claim 2 is characterized in that: The auxiliary vibration mechanism (73) comprises an auxiliary vibration frame (731) fixed to the end of the rotating connection block (83) and an auxiliary vibration block (732) arranged in the auxiliary vibration frame (731); the first connection plate (72) is arranged at the upper and lower ends of the auxiliary vibration block (732) and connected to the main vibration outer frame (711); an auxiliary vibration shaft (733) passing through the auxiliary vibration block (732) is arranged in the auxiliary vibration frame (731) along the horizontal direction; the auxiliary vibration block (732) is slidably arranged on the auxiliary vibration shaft (733); auxiliary vibration springs (734) are sleeved at both ends of the auxiliary vibration block (732) on the auxiliary vibration shaft (733); and both ends of the auxiliary vibration spring (734) are connected to the auxiliary vibration block (732) and the auxiliary vibration frame (731).

6. The high-precision jaw-type ore sorting equipment according to claim 1 is characterized in that: The ore grabbing device (6) comprises a driving mechanism (61) and a gripper actuator (62), wherein the driving mechanism (61) comprises a driving box outer frame (611) arranged at the bottom end of the second connecting plate (74), a driving box frame (612) arranged in the driving box outer frame (611), a driving motor (613) arranged on the driving box frame (612), a worm (614) arranged at the output end of the driving motor (613), a turbine (615) drivingly matched with the worm (614), a driving gear (618) coaxially arranged with the turbine (615), and racks (616) slidably arranged on both sides of the driving gear (618), wherein the tooth surface of the rack (616) is in contact with the driving gear (618). The gear (618) is meshed, and the two racks (616) can be driven to move in opposite directions on the drive box frame (612). The clamping jaw actuator (62) includes a mechanical clamping jaw (621) arranged on both sides of the drive box frame (612) and a clamping jaw connecting rod (622) arranged on the mechanical clamping jaw (621). The clamping jaw connecting rod (622) is hinged to the rack (616). The two sides of the drive box frame (612) are provided with connecting brackets (617) inclined downward. A connecting handle is provided on one side of the clamping jaw connecting rod (622) on the mechanical clamping jaw (621). The clamping jaw connecting rod (622), the connecting bracket (617) and the connecting handle are hinged through the same rotating shaft.

7. The high-precision jaw-type ore sorting equipment according to claim 6 is characterized in that: The mechanical clamp (621) includes a plurality of clamp fingers, each of which is provided with a long through hole in the opposite direction of its length, a toothed belt (623) and a support column (624) for supporting the toothed belt (623) are provided in the through hole, and a belt drive assembly (625) for driving the toothed belt (623) to roll in the through hole is provided on the mechanical clamp (621), and the belt drive assembly (625) includes a belt drive motor (6251) and a toothed belt shaft (6252) for transmission with the belt drive motor (6251), and the toothed belt shaft (6252) passes through the top of all the toothed belts (623) and is for transmission with the toothed belts (623).

8. The high-precision jaw-type ore sorting equipment according to claim 7, characterized in that: The ore grabbing device (6) further comprises a buffer mechanism (63) arranged at both ends of the driving box frame (612), the buffer mechanism (63) comprising a vertical buffer frame (631) and an ore baffle (632) arranged on the vertical buffer frame (631), the ore baffle (632) being arranged in an arc shape with the arc surface facing the ore, a vertical buffer shaft (6311) passing through the ore baffle (632) being arranged vertically in the vertical buffer frame (631), the ore baffle (632) being arranged on the vertical buffer shaft (6311) to slide up and down, a vertical buffer spring (6312) being arranged on the upper and lower sides of the ore baffle (632) on the vertical buffer shaft (6311), and both ends of the vertical buffer spring (6312) being connected to the ore baffle (632) and the vertical buffer shaft (6311).

9. The high-precision jaw-type ore sorting equipment according to claim 8, characterized in that: The buffer mechanism (63) further comprises a transverse buffer frame (633) fixed at both ends of the drive box frame (612) and a buffer plate (634) arranged on the transverse buffer frame (633); the buffer plate (634) is connected to the vertical buffer frame (631); a transverse buffer shaft (6331) passing through the buffer plate (634) is arranged in the transverse buffer frame (633) along the horizontal direction; the transverse buffer shaft (6331) is slidably arranged on the transverse buffer shaft (6331); transverse buffer springs (6332) are sleeved on both sides of the transverse buffer shaft (6331) located on the buffer plate (634); and the two ends of the transverse buffer spring (6332) are connected to the transverse buffer frame (633) and the buffer plate (634).

10. The high-precision jaw-type ore sorting equipment according to claim 6, characterized in that: It also includes a dust suction device (9) arranged on the drive box frame (612), and the dust suction device (9) includes a dust suction drive motor (91) and a dust collector (92).

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