Method and equipment for efficiently separating magnetic ores

Abstract

The invention discloses equipment and a method for efficiently separating magnetic ores, and relates to the technical field of design and control of concentrating machines. The equipment comprises an ore conveying mechanism, an ore feeding mechanism, a magnetic induction sensor assembly, an ore sorting device, an ore collecting box and an integrated industrial control box. An air injection valve group and a high-precision real-time controller are integrated in the industrial control box, and the high-precision real-time controller is responsible for data acquisition and processing. According to the separation method, a proper sensor distance is selected, magnetic signals generated by ore passing through the positions above the sensors are collected in real time, intelligent noise reduction is conducted, whether the ore grade meets the separation requirement or not is judged through a double-threshold algorithm, and if yes, blowing separation is triggered, and the ore is fed into a designated collection area. The magnetic signals of the ore to be separated above the sensor assembly are detected in real time, the magnetite grade is judged, the ore separation efficiency is improved, different methods are brought for ore separation, and the ore separation industry is promoted to develop towards the digitization and intelligentization direction.

Description

Technical Field

[0001] The invention relates to the field of ore dressing machine mechanical design and control technology, in particular to a design of a high-efficiency separation method and equipment. Background Art

[0002] my country is rich in iron ore resources, but there are few rich ores, and there are many poor ores and difficult-to-select ores. It is necessary to continuously import foreign iron ore to ensure domestic iron ore production, resulting in excessive dependence on foreign iron ore, which affects the development of my country's mineral processing enterprises. For this reason, domestic enterprises have currently developed a variety of mineral processing equipment, but the degree of intelligence and digitization is not high, and they have not reached the field of intelligent mineral processing. Although relevant patents have been issued, the disadvantage of the methods and equipment they proposed is that they cannot quickly and accurately sort out ores in the case of multiple ores and small particle sizes, resulting in the omission of many effective ores. Summary of the invention

[0003] Based on this, the purpose of the present invention is to provide a method and equipment for efficiently sorting magnetic ore, so as to make up for the shortcomings of the current equipment such as low sorting speed, less sorted ore and low accuracy, so as to improve the utilization rate of ore.

[0004] In one aspect, the present invention provides a method for efficiently separating magnetic ore, comprising the following steps:

[0005] Step S1, spreading the ore on the conveyor belt by a vibrating feeder, using a permanent magnet to stabilize the magnetic field in the detection area of ​​the Hall sensor and magnetize the magnetic ore, wherein the magnetic ore includes all ores with a higher specific magnetic susceptibility, which are easier to magnetize and whose magnetic signals are easily detected;

[0006] Step S2, the Hall sensor detects the magnetic signal of the magnetized ore and transmits it to the data acquisition chip of the industrial control board, and transmits the waveform data to the control chip after digital-to-analog conversion;

[0007] Step S3, using a filtering algorithm to perform real-time noise reduction on the received waveform data, and using a dual threshold algorithm to determine whether the waveform is generated by magnetic ore;

[0008] Step S4, if the result of the judgment is magnetic ore, the ore is marked and delayed injection is carried out, and the delay time is determined by the conveyor belt speed and the distance between the sensor and the injection port;

[0009] Step S5, the magnetic ore leaves the conveyor belt and passes through the air jet port. If the delay time is over, the air jet port sprays the magnetic ore, thereby realizing the separation of the magnetic ore.

[0010] Furthermore, the step S1 specifically includes:

[0011] Step S11, pour the target ore directly into the funnel so that the ore can fall into the feed tray of the vibrating feeder without interruption;

[0012] Step S12, using a vibrating feeder to vibrate the target ore so that the ore can be evenly spread on the conveyor belt and pass under the magnet in sequence for magnetization;

[0013] Step S13, after magnetization, the magnetized material is immediately transported by a conveyor belt over a sensor for detection.

[0014] Furthermore, the step S2 specifically includes:

[0015] Step S21, after the Hall sensor detects the magnetic signal of the magnetized ore, the magnetic signal is transmitted to the data acquisition chip of the industrial control board;

[0016] In step S22, the data acquisition chip directly converts the magnetic signal from analog data to digital waveform data and transmits it to the control chip for further processing.

[0017] Furthermore, the step S3 specifically includes:

[0018] Step S31, after the data acquisition chip transmits the waveform data to the control chip, it uses an intelligent denoising algorithm to reduce the noise, and transmits the denoised data to the control program;

[0019] Step S32, the control program obtains the waveform data after noise reduction, and uses a dual threshold algorithm to determine whether the ore passing through meets the injection conditions. If so, it is magnetic ore passing through, and if not, it is waste ore passing through.

[0020] Furthermore, the step S5 specifically includes:

[0021] Step S51, after the delay time is up, the control chip will control the jet valve to operate;

[0022] Step S52, if the ore particle size is greater than 10 mm, and occupies multiple channels at the same time, and the multiple channels are all detected as magnetic ore, the jet valves corresponding to the channels will be activated simultaneously to achieve jetting;

[0023] In step S53, the magnetic ore will be subjected to force and its motion trajectory will change, while the waste ore will not be subjected to force and its motion trajectory will remain unchanged. Based on this, the magnetic ore will be completely separated from the waste ore and fall into the corresponding collection box.

[0024] Furthermore, the step S31 specifically includes:

[0025] Step S311, using an intelligent denoising algorithm, including but not limited to the Grey Wolf Optimization Algorithm, to optimize the parameters of the variational mode decomposition algorithm, and obtain the optimal parameter combination under specified conditions: the number of decomposition layers k and the penalty factor a;

[0026] Step S312: Using the variational mode decomposition algorithm under optimal parameters, decompose the original signal into multiple intrinsic mode function (IMF) signals;

[0027] Step S313: Using the sample entropy method to screen out the IMF signals containing effective magnetic signal features;

[0028] Step S314: Using the wavelet threshold denoising algorithm or other denoising algorithms with better effects to denoise the screened IMF signals to obtain the denoised IMF signals;

[0029] Step S315: Reconstruct the denoised IMF signals to obtain the final denoised signal.

[0030] Further, the specific steps of step S32 include:

[0031] Step S321: Take multiple denoised waveform data when no ore passes through and calculate their average value as the baseline of the double-threshold algorithm;

[0032] Step S322: Establish threshold lines R1 and R2, where R1 < R2, which represents the difference from the baseline;

[0033] Step S323: Take out the non-baseline value data after denoising and record it as B1, subtract it from the baseline value, and judge the size of the difference from the baseline value R1;

[0034] Step S324: If the difference is less than R1, then determine that the data is noise; if the difference is greater than R1, it means that the data is caused by ore and is determined as a waveform. Continue to obtain the next data B2, subtract it from the baseline value to obtain the difference C1, temporarily store this data, continue to obtain the next round of data B3, subtract it from the baseline value to obtain the difference C2;

[0035] Step S325: Compare the sizes of C1 and C2. If C1 > C2, then determine that B2 is the peak point of the wave crest and C1 is the peak value of the wave crest. Set this peak value as the amplitude and temporarily store it in the next step. If C1 < C2, then continue to obtain the next data B4, obtain its difference C3 from the baseline value and compare the sizes of C3 and C2. Loop through this step until the amplitude Cn is obtained and the amplitude is temporarily stored in the next step;

[0036] Step 326: Assume the stored amplitude is M, compare the size of M and R2. If M >= R2, it means that the ore meets the injection condition and is determined as a magnetic ore.

[0037] On the other hand, the present invention also provides a device for efficiently sorting magnetic ores, which uses the above-mentioned method for efficiently sorting magnetic ores to sort magnetic ores, including an ore feeding mechanism, an ore conveying mechanism, a magnetic induction sensor assembly, an integrated industrial control box, an ore sorting device, and an ore collection box arranged in sequence;

[0038] The ore feeding mechanism includes a vibrating feeding mechanism bracket, a funnel, and a vibrating feeder. The vibrating feeding mechanism bracket is placed not far from one end of the conveyor belt mechanism so that the ore can fall onto the conveyor belt through vibration. The large mouth end of the funnel is placed on the upper end of the vibrating feeding mechanism bracket, and the small mouth end of the funnel is placed not far above the feeding tray of the vibrating feeder. The vibrating feeder is placed in the middle of the vibrating feeding mechanism bracket, and the feeding tray discharge end is placed directly above the conveyor belt mechanism.

[0039] The ore conveying mechanism includes a conveyor belt mechanism and a conveyor belt side baffle. The ore conveying mechanism is placed on a flat ground. The distance between the conveying material plane and the ground and the width of the conveyor belt can be adjusted according to actual conditions. Conveyor belt side baffles are arranged on both sides of the conveyor belt width to prevent the ore from falling to the ground and being missed.

[0040] The magnetic induction sensor assembly includes a magnet for magnetization and a sensor assembly. The magnet for magnetization is a magnet with the same width as the conveyor belt and is placed above the conveyor belt. The sensor assembly is a circuit board with a dense array of multiple Hall sensors, which is placed below the conveyor belt and in a sensor bracket. The vertical distance from the conveyor belt is less than 5 mm to obtain more signals. The lateral distance between the magnetization magnet and the Hall sensor does not exceed 1 cm to obtain a better magnetization effect. The magnetization magnet is located close to one end of the vibrating feeder.

[0041] The integrated industrial control box includes a power supply, a splitter, an industrial control board, an industrial control box, an air jet valve and a valve island. The industrial control box is placed below the conveyor belt, and has an air jet valve hole on one side, facing the conveying direction of the conveyor belt. The industrial control board is placed in the upper part of the industrial control box, and the input end realizes the collection of Hall sensor data, and the output end realizes the spraying action of the control valve island and the air jet valve. The valve island and the air jet valve are placed in the lower part of the industrial control box, and the air jet valve is embedded in the valve island. An external air pump provides gas for the valve island, and receives the control signal from the output end of the industrial control board to realize the spraying action of the air jet valve; the output end of the air jet valve is connected to the air jet valve hole on the side through an air pipe;

[0042] The ore sorting device comprises a nozzle mechanism, which is placed at the end along the running direction of the conveyor belt, and its internal hole is connected to the side hole of the industrial control box through an air pipe;

[0043] The ore collection box includes an L-shaped plate baffle, a waste ore collection box, a magnetic ore collection box and a collection box side baffle. It is not too far away from the end of the conveyor belt mechanism, placed on the ground, and has a height similar to that of the ore conveying mechanism. It is divided into two parts, front and back. The front part is a waste ore collection box, and the rear part is a magnetic ore collection box. The front and back parts are separated by an L-shaped baffle, and a collection box side baffle is installed at the bottom to sort out the ejected magnetic ore and the un-injected waste ore.

[0044] Furthermore, a baffle is installed on the side of the conveyor belt mechanism, and its length can be determined according to the stability of the belt. One of its points of action is to stabilize the ore so that it does not fall. The baffle can be at any angle to the conveyor belt, but it must be noted that it cannot occupy the detection area of ​​the sensor to prevent the ore detection area from being reduced.

[0045] Furthermore, the arrangement method adopted by the circuit board integrated with multiple Hall sensors is an array arrangement, and the array distance is determined by the particle size of the ore; the circuit design between the multiple Hall sensors has a certain signal shielding function, so that the sensor signal is more stable; the number of Hall sensors is determined by the array distance and the width of the conveyor belt, and each Hall sensor represents a channel; the signal output end of the Hall sensor is integrated, which greatly reduces the difficulty of operation and the output is more stable.

[0046] Furthermore, in the integrated industrial control box, the number of industrial control panels is determined by the number of sensors and the number of input terminals of the industrial control board, but the data acquisition rate shall not be lower than 1000HZ to prevent incomplete ore data detection; the data acquisition chip and the control chip in the industrial control board are integrated into one to achieve high-speed acquisition, processing and control; its output terminal is connected to the input terminal of the jet valve, and the number of jet valves is determined by the number of Hall sensors, and the relationship between the two is a one-to-one correspondence, so that one Hall sensor can control one jet valve, thereby improving the sorting efficiency; the operating frequency of the jet valve is determined by the ore particle size and the conveyor belt speed. In order to prevent the special situation of ore leakage, its operating frequency can be appropriately increased. The special situation refers to: when the distance between two ores with higher relative magnetic susceptibility does not exceed 1 cm and the conveyor belt speed is greater than 1 meter per second, the jet valve fails to achieve accurate sorting of the other ore due to the slow operating frequency.

[0047] Furthermore, the number of through holes in the nozzle mechanism is determined by the number of jet valves, and the relationship between the holes and the jet valves is one-to-one, and the position relationship between the holes and the Hall sensors is a linear relationship along the direction of the conveyor belt, so that one Hall sensor can control its corresponding jet valve and hole to spray the ore to achieve sorting; the angle at which the gas is ejected from the hole is determined by the conveyor belt speed and the distance between the hole and the upper surface of the conveyor belt, so that when the gas is sprayed onto the ore, the force on the ore is the greatest, the trajectory is changed the most, and the sorting efficiency is greatly improved.

[0048] Furthermore, the angle and height of the L-shaped baffle in the ore collection box and the ground are determined by the movement trajectory of the ore when it leaves the conveyor belt, which can perfectly separate the blown ore from the unblown ore to achieve efficient sorting.

[0049] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0050] 1. The filtering algorithm significantly reduces the impact of noise on the waveform data of magnetic ore in real time, and basically achieves no impact. Combined with the dual threshold algorithm, it can separate magnetic ore more quickly and accurately;

[0051] 2. Magnetization enhances the signal of magnetic ore with higher magnetic susceptibility, expands the separation grade range of magnetic ore, and plays a role in stabilizing the magnetic field in the detection area;

[0052] 3. It expands the range of magnetic ore sorting grades and reduces the particle size of the detected ore, greatly improving the detectability and sorting efficiency of magnetic ore. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of a flow chart of a high-speed, high-precision, intelligent separation control method for magnetic ore provided in the present invention;

[0054] Figure 2 This is a comparison diagram of the magnet before and after magnetization of magnetic ore by the magnet in the present invention;

[0055] Figure 3 This is a flow chart of an algorithm for reducing noise on collected data in the present invention;

[0056] Figure 4 This is a comparison diagram before and after noise reduction of collected data in the present invention;

[0057] Figure 5 A schematic diagram of the dual threshold algorithm flow for judging waveforms provided in the present invention;

[0058] Figure 6 It is a schematic diagram of the structure of the device in the present invention;

[0059] Figure 7 This is a diagram for installing the sensor assembly in the present invention;

[0060] Figure 8 This is a schematic diagram of installing the Hall sensor in the bracket in the present invention;

[0061] Fig. 9 It is a schematic diagram of the structure of the industrial control box system in the present invention;

[0062] Fig.10 It is a schematic diagram of the structure of the ore collecting box in the present invention.

[0063] Description of main component symbols:

[0064]

[0065] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0066] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0067] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0069] See also Figure 1 The present invention provides a method for efficiently separating magnetic ores, comprising the following steps:

[0070] Step S1, spreading the ore on the conveyor belt by a vibrating feeder, using a permanent magnet to stabilize the magnetic field in the detection area of ​​the Hall sensor and magnetize the magnetic ore, wherein the magnetic ore includes all ores with a higher specific magnetic susceptibility, which are easier to magnetize and whose magnetic signals are easily detected;

[0071] It should be noted that, in the present invention, the step S1 specifically includes:

[0072] Step S11, pour the target ore directly into the funnel so that the ore can fall into the feed tray of the vibrating feeder without interruption;

[0073] Step S12, using a vibrating feeder to vibrate the target ore so that the ore can be evenly spread on the conveyor belt and pass under the magnet in sequence for magnetization;

[0074] Step S13, after magnetization, the magnetized material is immediately transported by a conveyor belt over a sensor for detection.

[0075] See also Figure 1Specifically, when the ore falls onto the conveyor belt, the conveyor belt transports the ore to the bottom of the magnet for magnetization to enhance the magnetic properties of the ore. However, since the magnetization effect lasts for a short time, it needs to be detected immediately to highlight the magnetization effect. Therefore, the Hall sensor is placed immediately to the right of the magnet to detect the magnetic signal.

[0076] See also Figure 2 It should be noted that Figure 1 is a waveform diagram without magnetization, and Figure 2 is a waveform diagram after magnetization. The magnetization effect produced by placing the magnet 5 cm above the conveyor belt is obviously that its waveform peak value increases, and the magnetic ore signal can be stably detected.

[0077] Step S2, the Hall sensor detects the magnetic signal of the magnetized ore and transmits it to the data acquisition chip of the industrial control board, and transmits the waveform data to the control chip after digital-to-analog conversion;

[0078] It should be noted that, in the present invention, step S2 specifically includes:

[0079] Step S21, after the Hall sensor detects the magnetic signal of the magnetized ore, the magnetic signal is transmitted to the data acquisition chip of the industrial control board;

[0080] In step S22, the data acquisition chip directly converts the magnetic signal from analog data to digital waveform data and transmits it to the control chip for further processing.

[0081] Step S3, using a filtering algorithm to perform real-time noise reduction on the received waveform data, and using a dual threshold algorithm to determine whether the waveform is generated by magnetic ore;

[0082] It should be noted that, in the present invention, step S3 specifically includes:

[0083] Step S31, after the data acquisition chip transmits the waveform data to the control chip, it uses an intelligent denoising algorithm to reduce the noise, and transmits the denoised data to the control program;

[0084] Step S32, the control program obtains the waveform data after noise reduction, and uses a dual threshold algorithm to determine whether the ore passing through meets the injection conditions. If so, it is magnetic ore passing through, and if not, it is waste ore passing through.

[0085] See also Figure 3 It should be noted that, in the present invention, the step S31 specifically includes:

[0086] Step S311, using an intelligent denoising algorithm, including but not limited to the Grey Wolf Optimization Algorithm, to optimize the parameters of the variational mode decomposition algorithm, and obtain the optimal parameter combination under specified conditions: the number of decomposition layers k and the penalty factor a;

[0087] Step S312: Using the variational mode decomposition algorithm under optimal parameters, decompose the original signal into multiple intrinsic mode function (IMF) signals;

[0088] Step S313: Using the sample entropy method to screen out the IMF signals containing effective magnetic signal features;

[0089] Step S314: Using the wavelet threshold denoising algorithm or other denoising algorithms with better effects to denoise the screened IMF signals to obtain the denoised IMF signals;

[0090] Step S315: Reconstruct the denoised IMF signals to obtain the finally required denoised signal.

[0091] Please refer to Figure 4 , it should be noted that the intelligent algorithm used in this platform is the grey wolf optimization algorithm. Figure 1 shows the waveform diagram without filtering, and Figure 2 shows the waveform diagram after filtering. Obviously, the noise reduction amplitude is large but the peak reduction amplitude is low, making the waveform easier to detect.

[0092] Please refer to Figure 5 , it should be noted that in the present invention, the specific steps of step S32 include:

[0093] Step S321: Take multiple waveform data after denoising when no ore passes through and calculate their average value as the baseline of this double-threshold algorithm;

[0094] Step S322: Establish threshold lines R1 and R2, and R1 < R2, which represent the difference from the baseline;

[0095] Step S323: Take out the non-baseline value data after denoising and record it as B1, subtract it from the baseline value, and judge the size of the difference from the baseline value R1;

[0096] Step S324: If the difference is less than R1, then determine that the data is noise; if the difference is greater than R1, it means that the data is caused by ore and is determined as a waveform. Continue to obtain the next data B2, subtract it from the baseline value to obtain the difference C1, temporarily store this data, continue to obtain the next round of data B3, subtract it from the baseline value to obtain the difference C2;

[0097] Step S325: Compare the sizes of C1 and C2. If C1 > C2, then determine that B2 is the peak point of this wave peak, C1 is the peak value of this wave peak, and set this peak value as the amplitude and temporarily store it in the next step. If C1 < C2, then continue to obtain the next data B4, obtain its difference C3 from the baseline value and compare the sizes of C3 and C2. Loop through this step until the amplitude Cn is obtained and the amplitude is temporarily stored in the next step;

[0098] Step 326, set the stored amplitude to M, compare M with R2, if M>=R2, it means that the ore meets the injection conditions and is determined to be magnetic ore.

[0099] Step S4, if the result of the judgment is magnetic ore, the ore is marked and delayed injection is carried out, and the delay time is determined by the conveyor belt speed and the distance between the sensor and the injection port;

[0100] Step S5, the magnetic ore leaves the conveyor belt and passes through the air jet port. If the delay time is over, the air jet port sprays the magnetic ore, thereby realizing the separation of the magnetic ore.

[0101] Step S5, the magnetic ore leaves the conveyor belt and passes over the nozzle, and when the delay time is over, the jet valve is actuated to achieve blowing, thereby performing sorting.

[0102] It should be noted that, in the present invention, step S5 specifically includes:

[0103] Step S51, after the delay time is up, the control chip will control the jet valve to operate;

[0104] Step S52, if the ore particle size is greater than 10 mm, and occupies multiple channels at the same time, and the multiple channels are all detected as magnetic ore, the jet valves corresponding to the channels will be activated simultaneously to achieve jetting;

[0105] In step S53, the magnetic ore will be subjected to force and its motion trajectory will change, while the waste ore will not be subjected to force and its motion trajectory will remain unchanged. Based on this, the magnetic ore will be completely separated from the waste ore and fall into the corresponding collection box.

[0106] See also Figure 6 On the other hand, the present invention also provides a device for efficiently sorting magnetic ore, which uses the above-mentioned method for efficiently sorting magnetic ore to sort magnetic ore, including an ore feeding mechanism 10, an ore conveying mechanism 11, a magnetic induction sensor assembly 12, an integrated industrial control box 13, an ore sorting device 14 and an ore collecting box 15 which are arranged in sequence;

[0107] The ore feeding mechanism includes a vibrating feeding mechanism bracket 101, a hopper 102, and a vibrating feeder 103. The vibrating feeding mechanism bracket 101 is placed not far from one end of a conveyor belt mechanism 111, so that the ore can fall onto the conveyor belt through vibration. The large mouth end of the hopper 102 is placed on the upper end of the vibrating feeding mechanism bracket 101, and the small mouth end of the hopper 102 is placed not far above the feeding tray of the vibrating feeder 103. The vibrating feeder 103 is placed in the middle of the vibrating feeding mechanism bracket 101, and the material tray discharge end is placed directly above the conveyor belt mechanism 111.

[0108] The ore conveying mechanism includes a conveyor belt mechanism 111 and a conveyor belt side baffle 112. The ore conveying mechanism is placed on a flat ground. The distance between the conveying material plane and the ground and the width of the conveyor belt can be adjusted according to actual conditions. Conveyor belt side baffles 112 are arranged on both sides of the conveyor belt width to prevent the ore from falling to the ground and being missed.

[0109] The magnetic induction sensor assembly includes a magnetizing magnet 121 and a sensor assembly 122. The magnetizing magnet 121 is a magnet with the same width as the conveyor belt and is placed above the conveyor belt. The sensor assembly 122 is a circuit board 1222 with a dense array of multiple Hall sensors 1221, which is placed below the conveyor belt and in a sensor bracket 1223, with a vertical distance of less than 5mm from the conveyor belt to obtain more signals. The lateral distance between the magnetizing magnet 121 and the Hall sensor 1221 does not exceed 1cm to obtain a better magnetization effect. The magnetizing magnet 121 is located close to one end of the vibrating feeder 103.

[0110] The integrated industrial control box includes a power supply 131, a splitter 132, an industrial control board 133, an industrial control box 134, an air jet valve 135 and a valve island 136. The industrial control box 134 is placed below the conveyor belt, and has an air jet valve hole on one side, facing the conveying direction of the conveyor belt. The industrial control board 133 is placed in the upper part of the industrial control box 134, and the input end realizes the collection of Hall sensor data, and the output end realizes the spraying action of the control valve island 136 and the air jet valve 135. The valve island 136 and the air jet valve 135 are placed in the lower part of the industrial control box 134, and the air jet valve 135 is embedded in the valve island 136. An external air pump provides gas for the valve island 136, and receives the control signal of the output end of the industrial control board 133 to realize the spraying action of the air jet valve 135; the output end of the air jet valve 135 is connected to the air jet valve hole on the side through an air pipe;

[0111] The ore sorting device comprises a nozzle mechanism 141, which is placed at the end along the running direction of the conveyor belt, and its internal hole is connected to the side hole of the industrial control box 134 through an air pipe;

[0112] The ore collection box includes an L-shaped plate baffle 151, a waste ore collection box 152, a magnetic ore collection box 153 and a collection box side baffle 154, which is not too far from the end of the conveyor belt mechanism 111, is placed on the ground, and has a height similar to that of the ore conveyor mechanism. It is divided into two parts, the front part is the waste ore collection box 152, and the rear part is the magnetic ore collection box 153, and the front and rear parts are separated by the L-shaped baffle 151, and the collection box side baffle 154 is installed at the bottom, which can sort out the ejected magnetic ore and the un-injected waste ore.

[0113] It should be noted that, in the present invention, when the ore to be sorted is fully loaded in the funnel 102, due to the vibration of the vibrating feeder 111, the ore falls evenly from the material tray and is spread flat on the running conveyor belt. Then the ore moves with the conveyor belt to the bottom of the magnetizing magnet 121 for magnetization. After that, the Hall sensor 1221 immediately collects data of the ore, and the industrial control board 133 immediately collects and reduces noise of the data collected by the Hall sensor 1221, and detects the waveform at the same time, detects the generated waveform, and locates the channel that generates the waveform, and then delays the jet valve 135 of the corresponding channel. When the ore runs to the top of the nozzle mechanism 141, the countdown of the delay control time of the corresponding jet valve 135 ends, and then the injection is carried out. The magnetic ore falls into the magnetic ore collection box 153 in the ore collection box due to the injection.

[0114] Furthermore, a baffle is installed on the side of the conveyor belt mechanism 111, and its length can be determined according to the stability of the belt. One of its points of action is to stabilize the ore so that it does not fall. The baffle and the conveyor belt can be at any angle, but it must be noted that it cannot occupy the detection area of ​​the sensor to prevent the ore detection area from being reduced.

[0115] Furthermore, the arrangement method adopted by the circuit board 1222 integrated with multiple Hall sensors is an array arrangement, and the array distance is determined by the particle size of the ore; the circuit design between the multiple Hall sensors 1221 has a certain signal shielding function, so that the sensor signal is more stable; the number of Hall sensors 1221 is determined by the array distance and the width of the conveyor belt, and each Hall sensor 1221 represents a channel; the signal output end of the Hall sensor is integrated, which greatly reduces the difficulty of operation and the output is more stable.

[0116] Furthermore, in the integrated industrial control box, the number of industrial control boards 133 is determined by the number of sensors and the number of input terminals of the industrial control board 133, but the data acquisition rate shall not be lower than 1000HZ to prevent incomplete ore data detection; the data acquisition chip and the control chip in the industrial control board 133 are integrated to achieve high-speed acquisition, processing and control; its output terminal is connected to the input terminal of the jet valve 135, and the number of the jet valve 135 is determined by the number of Hall sensors 1221, and the relationship between the two is a one-to-one correspondence, so that one Hall sensor 1221 can control one jet valve 135, thereby improving the sorting efficiency; the operating frequency of the jet valve 135 is determined by the ore particle size and the conveyor belt speed. In order to prevent the occurrence of special circumstances in which the ore is leaked, its operating frequency can be appropriately increased. The special situation refers to: when the distance between two ores with higher relative magnetic susceptibility coefficients does not exceed 1 cm and the conveyor belt speed is greater than 1 meter per second, the jet valve fails to achieve accurate sorting of the other ore due to the slow operating frequency.

[0117] Furthermore, the number of through holes in the nozzle mechanism 141 is determined by the number of the jet valves 135, and the hole and the jet valve 135 have a one-to-one correspondence. The positional relationship between the hole and the Hall sensor 1221 is a linear relationship along the direction of the conveyor belt, so that one Hall sensor 1221 can control its corresponding jet valve 135 and hole to spray the ore to achieve sorting; the angle at which the gas is ejected from the hole is determined by the conveyor belt speed and the distance between the hole and the upper surface of the conveyor belt, so that when the gas is sprayed onto the ore, the force on the ore is the greatest, the trajectory is changed the most, and the sorting efficiency is greatly improved.

[0118] Furthermore, the angle and height of the L-shaped baffle 151 in the ore collection box and the ground are determined by the movement trajectory of the ore when it leaves the conveyor belt, which can perfectly separate the blown ore from the unblown ore to achieve efficient sorting.

[0119] It should be noted that, in the present invention, the channel corresponding to each waveform is located by the industrial control board 133, and the delay time required for each piece of ore to move from the detection point of the Hall sensor 1221 to the nozzle position in the nozzle mechanism 141 is calculated, and the corresponding jet valve 135 is delayed controlled to blow air in the channel corresponding to the nozzle mechanism 141, and the detected magnetic ore is sorted into the corresponding magnetic ore collection box 153 in the ore collection box.

[0120] It should be further clarified that the specific operating steps of using the above-mentioned magnetic ore high-speed, high-precision intelligent sorting equipment are as follows:

[0121] The first step is to adjust the distance between the magnetizing magnet and the upper surface of the conveyor belt according to the particle size range of the magnetic ore to be separated;

[0122] The second step is to take out the air compressor suitable for use and connect it to the jet valve part to provide high-pressure gas;

[0123] The third step is to power on the equipment and turn it on. The industrial control board program is downloaded successfully and reset to start, ready for magnetic ore sorting.

[0124] The fourth step is to continuously pour the magnetic ore to be sorted into the hopper, and spread the magnetic ore evenly on the conveyor belt through the vibrating feeder;

[0125] In the fifth step, the magnetic ore moves with the conveyor belt to the bottom of the magnetizing magnet for magnetization and the Hall sensor immediately collects data and transmits it to the industrial control box system;

[0126] Step 6: The industrial control board in the industrial control box system receives the data and immediately performs noise reduction and waveform detection, marks the detected waveform, locates the corresponding channel, calculates the delayed blowing time, and then performs delayed action control on the jet valve corresponding to the channel;

[0127] Step 7: When the detected magnetic ore moves to the top of the nozzle mechanism, the delay action time countdown ends at the same time, the corresponding jet valve is actuated, and the corresponding nozzle blows out high-pressure gas, so that the magnetic ore is forced to fall into the magnetic ore collection box;

[0128] Step 8. Repeat steps 4 to 7.

[0129] In summary, the technical solution of the present invention has the following advantages:

[0130] 1. The influence of noise on magnetic ore signals is greatly reduced in real time, and basically no influence is achieved. In addition, the combination of dual threshold algorithm enables the Hall sensor to detect magnetic ore more accurately and quickly and realize sorting;

[0131] 2. Magnetization enhances the magnetic ore signal detected by the Hall sensor, allowing the sensor to detect weak ore signals, thereby expanding the sorting grade of magnetic ore and stabilizing the magnetic field.

[0132] 3. The Hall sensors are closely arranged, and small-sized ores can also be detected. The industrial control board collects and processes data at a high rate, and the jet valve has a high blowing frequency, so the ore sorting rate is greatly improved, achieving rapid sorting.

[0133] The above-mentioned embodiment only expresses one implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A method for efficiently separating magnetic ores, characterized in that: The following steps are involved: Step S1, spreading the ore on the conveyor belt by a vibrating feeder, using a permanent magnet to stabilize the magnetic field in the detection area of ​​the Hall sensor and magnetize the magnetic ore, wherein the magnetic ore includes all ores whose specific magnetic susceptibility can be calculated, which are easy to magnetize and whose magnetic signals can be detected; Step S2, the Hall sensor detects the magnetic signal of the magnetized ore and transmits it to the data acquisition chip of the industrial control board, and transmits the waveform data to the control chip after digital-to-analog conversion; Step S3, using a filtering algorithm to perform real-time noise reduction on the received waveform data, and using a dual threshold algorithm to determine whether the waveform data is generated by magnetic ore; Step S4, if the result of the judgment is magnetic ore, the ore is marked and delayed injection is carried out, and the delay time is determined by the conveyor belt speed and the distance between the sensor and the injection port; Step S5, the magnetic ore leaves the conveyor belt and passes through the air jet port. If the delay time is over, the air jet port sprays the magnetic ore, thereby realizing the separation of the magnetic ore.

2. A method for efficiently separating magnetic ores according to claim 1, characterized in that: The step S1 specifically includes: Step S11, pour the target ore directly into the funnel so that the ore can fall into the feed tray of the vibrating feeder without interruption; Step S12, using a vibrating feeder to vibrate the target ore so that the ore can be evenly spread on the conveyor belt and pass under the magnet in sequence for magnetization to achieve better detection; Step S13, after being magnetized, the ore is immediately transported by a conveyor belt over the sensor and tested.

3. A method for efficiently separating magnetic ores according to claim 1, characterized in that: The step S2 specifically includes: Step S21, after the Hall sensor detects the magnetic signal of the magnetized ore, the magnetic signal is transmitted to the data acquisition chip of the industrial control board; In step S22, the data acquisition chip directly converts the magnetic signal from analog data to digital waveform data and transmits it to the control chip for further processing.

4. A method for efficiently separating magnetic ores according to claim 1, characterized in that: The step S3 specifically includes: Step S31, after the data acquisition chip transmits the waveform data to the control chip, it uses an intelligent denoising algorithm to reduce the noise, and transmits the denoised data to the control program; Step S32, the control program obtains the waveform data after noise reduction, and uses a dual threshold algorithm to determine whether the ore passing through meets the injection conditions. If so, it is magnetic ore passing through, and if not, it is waste ore passing through.

5. A method for efficiently separating magnetic ore according to claim 1, characterized in that: The step S5 specifically includes: Step S51, after the delay time is up, the control chip will control the jet valve to operate; Step S52, if the ore particle size is greater than 10 mm, and occupies multiple channels at the same time, and the multiple channels are all detected as magnetic ore, the jet valves corresponding to the channels will be activated simultaneously to achieve jetting; In step S53, the magnetic ore will be subjected to force and its motion trajectory will change, while the waste ore will not be subjected to force and its motion trajectory will remain unchanged. Based on this, the magnetic ore will be completely separated from the waste ore and fall into the corresponding collection box.

6. A method for efficiently separating magnetic ore according to claim 4, characterized in that: The step S31 specifically includes: Step S311, using an intelligent denoising algorithm, including but not limited to the Grey Wolf Optimization Algorithm, to optimize the parameters of the variational mode decomposition algorithm, and obtain the optimal parameter combination under specified conditions: the number of decomposition layers k and the penalty factor a; Step S312, using a variational mode decomposition algorithm under optimal parameters to decompose the original signal into multiple intrinsic mode function (IMF) signals; Step S313: Use the sample entropy method to screen out the IMF signals containing effective magnetic signal features; Step S314: Use the wavelet threshold denoising algorithm or other denoising algorithms with better effects to denoise the screened IMF signals to obtain the denoised IMF signals; Step S315: Reconstruct the denoised IMF signals to obtain the final denoised signals.

7. A method for efficiently separating magnetic ores according to claim 4, characterized in that: The specific steps of step S32 include: Step S321: Take multiple waveform data after noise reduction when no ore passes through and calculate their average value as the baseline of this double-threshold algorithm; Step S322: Establish threshold lines R1 and R2, where R1 < R2, which represents the difference from the baseline; Step S323: Take out the non-baseline value data after noise reduction and denote it as B1, subtract it from the baseline value, and judge the size of the difference from the baseline value R1; Step S324: If the difference is less than R1, then determine that the data is noise; if the difference is greater than R1, it means that the data is caused by ore and is determined as a waveform. Continue to obtain the next data B2, subtract it from the baseline value to obtain the difference C1, temporarily store this data, continue to obtain the next round of data B3, subtract it from the baseline value to obtain the difference C2; Step S325: Compare the sizes of C1 and C2. If C1 > C2, then determine that B2 is the peak point of this wave peak, C1 is the peak value of this wave peak, set this peak value as the amplitude and temporarily store it in the next step. If C1 < C2, then continue to obtain the next data B4, obtain its difference C3 from the baseline value and compare the sizes of C3 and C2. Loop through this step until the amplitude Cn is obtained and the amplitude is temporarily stored in the next step; Step 326: Assume the stored amplitude is M, compare the size of M and R2. If M >= R2, it means that the ore meets the injection conditions and is determined as a magnetic ore.

8. An apparatus for efficiently separating magnetic ores, which uses the method for efficiently separating magnetic ores according to any one of claims 1 to 7 to separate magnetic ores, characterized in that: It includes a ore feeding mechanism, a ore conveying mechanism, a magnetic induction sensor assembly, an integrated industrial control box, a ore sorting device and a ore collection box arranged in sequence; The ore feeding mechanism includes a vibrating feeder mechanism bracket, a funnel, and a vibrating feeder. The vibrating feeder mechanism bracket is placed not far from one end of the conveyor belt mechanism so that the ore can fall onto the conveyor belt through vibration. The large end of the funnel is placed at the upper end of the vibrating feeder mechanism bracket, and the small end of the funnel is placed not far above the feeding tray of the vibrating feeder. The vibrating feeder is placed in the middle of the vibrating feeder mechanism bracket, and the discharging end of the feeding tray is placed directly above the conveyor belt mechanism; The ore conveying mechanism includes a conveyor belt mechanism and conveyor belt side baffles. The ore conveying mechanism is placed on flat ground, and the height of the material conveying plane from the ground and the width of the conveyor belt can be adjusted according to actual situations. Conveyor belt side baffles are arranged on both sides of the conveyor belt width to prevent the ore from falling to the ground and causing missed inspection; The magnetic induction sensor assembly includes a magnet for magnetization and a sensor assembly. The magnet for magnetization is a magnet with the same width as the conveyor belt and is placed above the conveyor belt. The sensor assembly is a circuit board with a dense array of multiple Hall sensors, which is placed below the conveyor belt and in a sensor bracket. The vertical distance from the conveyor belt is less than 5 mm to obtain more signals. The lateral distance between the magnetization magnet and the Hall sensor does not exceed 1 cm to obtain a better magnetization effect. The magnetization magnet is located close to one end of the vibrating feeder. The integrated industrial control box includes a power supply, a splitter, an industrial control board, an industrial control box, an air jet valve and a valve island. The industrial control box is placed below the conveyor belt, and has an air jet valve hole on one side, facing the conveying direction of the conveyor belt. The industrial control board is placed in the upper part of the industrial control box, and the input end realizes the collection of Hall sensor data, and the output end realizes the spraying action of the control valve island and the air jet valve. The valve island and the air jet valve are placed in the lower part of the industrial control box, and the air jet valve is embedded in the valve island. An external air pump provides gas for the valve island, and receives the control signal from the output end of the industrial control board to realize the spraying action of the air jet valve; the output end of the air jet valve is connected to the air jet valve hole on the side through an air pipe; The ore sorting device comprises a nozzle mechanism, which is placed at the end along the running direction of the conveyor belt, and its internal hole is connected to the side hole of the industrial control box through an air pipe; The ore collection box includes an L-shaped plate baffle, a waste ore collection box, a magnetic ore collection box and a collection box side baffle. It is not too far away from the end of the conveyor belt mechanism, placed on the ground, and has a height similar to that of the ore conveying mechanism. It is divided into two parts, front and back. The front part is a waste ore collection box, and the rear part is a magnetic ore collection box. The front and back parts are separated by an L-shaped baffle, and a collection box side baffle is installed at the bottom to sort out the ejected magnetic ore and the un-injected waste ore.

9. The device for efficiently separating magnetic ores according to claim 8, characterized in that: A baffle is installed on the side of the conveyor belt mechanism, and its length can be determined according to the stability of the belt. One of its points of action is to stabilize the ore so that it does not fall. The baffle can be at any angle to the conveyor belt, but it must be noted that it cannot occupy the detection area of ​​the sensor to prevent the ore detection area from being reduced.

10. The device for efficiently separating magnetic ores according to claim 8, characterized in that: The arrangement method adopted by the circuit board integrated with multiple Hall sensors is an array arrangement, and the array distance is determined by the ore particle size; the circuit design between the multiple Hall sensors has a certain signal shielding function, so that the sensor signal is more stable; the number of Hall sensors is determined by the array distance and the conveyor belt width, and each Hall sensor represents a channel; the signal output end of the Hall sensor is integrated, which greatly reduces the difficulty of operation and the output is more stable.

11. The device for efficiently separating magnetic ores according to claim 8, characterized in that: In the integrated industrial control box, the number of industrial control panels is determined by the number of sensors and the number of input terminals of the industrial control board, but the data acquisition rate shall not be lower than 1000HZ to prevent incomplete ore data detection; the data acquisition chip and the control chip in the industrial control board are integrated into one to achieve high-speed acquisition, processing and control; Its output end is connected to the input end of the jet valve, and the number of jet valves is determined by the number of Hall sensors, and the relationship between the two is a one-to-one correspondence, so that one Hall sensor can control one jet valve, thereby improving the sorting efficiency; the operating frequency of the jet valve is determined by the ore particle size and the conveyor belt speed. In order to prevent the occurrence of special circumstances, its operating frequency can be appropriately increased. The special circumstances refer to: when the distance between two ores with higher magnetic susceptibility coefficients does not exceed 1 cm and the conveyor belt speed is greater than 1 meter per second, the jet valve fails to achieve accurate sorting of the other ore due to its slow operating frequency.

12. The device for efficiently separating magnetic ores according to claim 8, characterized in that: The number of through holes in the nozzle mechanism is determined by the number of jet valves, and the relationship between the holes and the jet valves is one-to-one, and the position relationship between the holes and the Hall sensor is a linear relationship along the direction of the conveyor belt, so that one Hall sensor can control its corresponding jet valve and hole to spray the ore to achieve sorting; the angle at which the gas is sprayed from the hole is determined by the conveyor belt speed and the distance between the hole and the upper surface of the conveyor belt, so that when the gas is sprayed onto the ore, the force on the ore is the greatest, the trajectory is changed the most, and the sorting efficiency is greatly improved.

13. The device for efficiently separating magnetic ores according to claim 8, characterized in that: The angle and height of the L-shaped baffle in the ore collection box and the ground are determined by the movement trajectory of the ore when it leaves the conveyor belt, and the blown ore and the unblown ore can be perfectly separated to achieve efficient sorting.

Images