Material picking device and waste incineration slag valuable metal sorting system

Abstract

The invention relates to the field of resource recycling, in particular to a material picking device and a waste incineration slag valuable metal sorting system.The material picking device comprises a conveying assembly, a material collecting bin and a negative pressure generating assembly; the conveying assembly comprises a guide seat, a spring, a limiting piece and a material taking pipe. The guide seat is provided with a guide hole matched with the outer wall of the material taking pipe. The spring is sleeved outside the material taking pipe, one end of the spring is abutted against and matched with the guide seat, and a bulge abutted against and matched with the other end of the spring is arranged on the outer wall of the material taking pipe; the limiting piece is fixedly connected to the outer wall of the material taking pipe, and the guide base is located between the spring and the limiting piece. The first end, close to the protrusion, of the material taking pipe faces the material picking area, and the second end, close to the limiting piece, of the material taking pipe communicates with the material collecting bin. The first end of the material taking pipe is in a frustum shape, and the small-diameter end of the frustum faces the material picking area. The negative pressure generated by the negative pressure generating assembly acts on the material taking pipe. The device can realize self-adaptive high-efficiency pickup of valuable metals with different sizes.

Description

Technical Field

[0001] The present invention relates to the field of resource recycling, and in particular to a material picking device and a valuable metal sorting system for garbage incineration slag. Background Art

[0002] At present, the post-processing industry of waste incineration slag is still in its early stages of development, and the technical level and resource utilization rate need to be improved. For the resource utilization of valuable metals in incineration slag, traditional manual sorting and simple mechanical sorting methods are inefficient and difficult to meet the needs of large-scale processing. Although emerging technologies such as magnetic separation, electrostatic separation, and flotation have been gradually applied, the overall sorting efficiency and metal recovery rate are still not ideal. With the continuous increase in the output of waste incineration slag and the requirements of green development, the recovery of valuable metals in waste incineration slag urgently needs technological upgrades to effectively improve the recovery rate and resource utilization rate.

[0003] Although there is an important practical need for the automated and intelligent sorting of valuable metals in slag, there are obvious differences in the detection or identification of valuable metals and conventional products in slag post-processing. This is mainly manifested in the fact that conventional industrial products have obvious characteristics in size, shape, color, etc., and their environment is relatively simple. The size of the valuable metals in the slag varies significantly. For example, the large ones can reach tens of centimeters, and the small ones are less than 1 centimeter. Especially high-value metals such as gold and silver are generally only a few millimeters in size; secondly, after incineration, the metal melts and solidifies without a fixed shape, and the shapes of each metal particle vary greatly; in addition, due to the harsh environment of the incineration process and the large number of impurities, the color of the valuable metals after melting and solidification is different from that of the pure metal. These have brought great challenges to the automated picking of valuable metals in slag. According to market research and literature analysis, there are currently only devices that use magnetic separation, color separation, eddy current separation and other methods to perform preliminary separation of metals in waste incineration. However, the relevant devices have problems such as limited metals that can be separated (for example, magnetic separation can only separate iron), inability to separate fine metals, many impurities, and difficulty in subdividing. Therefore, the relevant devices are currently mainly used for preliminary separation of larger metals such as iron, aluminum, and copper. In addition, there are no intelligent sorting devices or mechanisms for high-value metals such as gold and silver in waste incineration slag. Summary of the invention

[0004] The purpose of the present invention is to provide a material picking device and a waste incineration slag valuable metal sorting system, which can realize the adaptive and efficient picking of valuable metals of different sizes, solve the problems of limited target metals that can be sorted by existing related devices or means, inability to sort fine metals, large number of sorting impurities, and difficulty in subdividing, enhance the automation and intelligence level of the waste incineration slag post-processing industry, and effectively improve the recovery rate and resource utilization rate of valuable metals in the slag.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: In the first aspect, the present invention discloses a material picking device, including a conveying component, a material collecting bin and a negative pressure generating component; the conveying component includes a guide seat, a spring, a limiter and a feeding tube, the guide seat is provided with a guide hole adapted to the outer wall of the feeding tube; the spring is sleeved on the outside of the feeding tube, one end of the spring is abutted against the guide seat, and the outer wall of the feeding tube is provided with a protrusion abutted against the other end of the spring; the limiter is fixedly connected to the outer wall of the feeding tube, and the guide seat is located between the spring and the limiter; the first end of the feeding tube close to the protrusion faces the material picking area, and the second end of the feeding tube close to the limiter is connected to the material collecting bin; the first end of the feeding tube is in the shape of a cone, and the small diameter end of the cone faces the material picking area; the negative pressure generated by the negative pressure generating component acts on the feeding tube.

[0006] Furthermore, a first connecting pipe and a second connecting pipe are fixed on the material collecting bin, the first connecting pipe is connected to the material taking pipe, and the second connecting pipe is connected to the negative pressure generating component; the second connecting pipe is connected to the barrier cylinder, and the side wall of the barrier cylinder is provided with a plurality of vents connected to the interior of the material collecting bin.

[0007] Furthermore, the first connecting tube and the second connecting tube are fixed to the top of the material collecting bin; the barrier cylinder comprises an upper cylinder, an intermediate cylinder and a lower cylinder which are connected in sequence, the vent hole is arranged on the side wall of the upper cylinder, the upper end opening of the upper cylinder is connected to the second connecting tube, and the lower end opening of the lower cylinder is fixedly connected to the cover plate; the outer diameter of the lower cylinder is larger than the outer diameter of the upper cylinder, the intermediate cylinder is frustum-shaped, the large diameter end of the intermediate cylinder is connected to the upper end opening of the lower cylinder, and the small diameter end of the intermediate cylinder is connected to the lower end opening of the upper cylinder.

[0008] Furthermore, a first baffle plate and a second baffle plate are fixed to the upper end opening of the upper cylinder, a porous material component is arranged between the first baffle plate and the second baffle plate, and the first baffle plate and the second baffle plate are provided with through holes for gas to flow through; the plane where the first baffle plate and the second baffle plate are located is perpendicular to the axial direction of the upper end opening of the upper cylinder.

[0009] Furthermore, a circumferential limiting structure is provided between the outer wall of the material taking tube and the guide hole of the guide seat.

[0010] Furthermore, it also includes a multi-directional position adjustment component, the guide seat is fixedly connected to the multi-directional position adjustment component, and the position of the material collection tube is adjusted by the multi-directional position adjustment component so that the first end of the material collection tube faces the material picking area.

[0011] Furthermore, the second end of the material taking pipe is connected to multiple material collecting bins through a conveying pipe, the feeding end of the conveying pipe is connected to the second end of the material taking pipe, the discharging end of the conveying pipe is connected to at least one branch pipe, and each material collecting bin is connected to at least one branch pipe.

[0012] In the second aspect, the present invention discloses a system for sorting valuable metals in waste incineration slag, which includes a conveying device, an identification device, a control device and the above-mentioned material picking device; the conveying device includes a conveyor belt for transmitting and carrying the slag; the identification device includes an identification component for detecting metals in the material to be sorted; the material picking device is located downstream of the identification device; the control device is controlled and connected to the conveying device, the identification device and the material picking device.

[0013] Further, the recognition component includes an image acquisition element and a light source acting on the slag on the conveyor belt.

[0014] Furthermore, it also includes a cleaning component arranged at the output end of the conveyor belt and a waste collection bin arranged below the output end of the conveyor belt.

[0015] The present invention has the following unexpected beneficial effects: 1. The material picking device of the present invention is provided with a spring outside the material picking tube, one end of the spring is in contact with the guide seat, and the other end is in contact with the protrusion on the outer wall of the material picking tube, so that the material picking tube forms an axial floating space under the constraint of the spring preload and the guide hole, which plays a buffering role in the material picking process. When the material picking tube encounters a certain resistance or collision, the spring can absorb the impact force to prevent the material picking tube from being damaged due to rigid collision. At the same time, the spring can also make the material picking tube have a certain degree of self-adaptation, and can be self-adaptively fine-tuned according to the size and state of the material to better adapt to different picking environments.

[0016] 2. In the material picking device described in the present invention, the conveying component is connected to multiple material collection bins through the conveying pipe and the branch pipe, which can realize the classified collection of various types of materials and effectively improve the degree of subdivision of the sorting. Different material collection bins can be used to collect different types of materials. For example, in a production process, materials of various materials, shapes or uses may be picked up. By connecting the branch pipes of the conveying pipe to different material collection bins, these materials can be conveniently classified and collected, which is convenient for subsequent processing and management. This design improves the adaptability of the material picking device to different materials and increases the versatility of the equipment.

[0017] 3. The valuable metal sorting system for waste incineration slag of the present invention includes a conveying device, an identification device, a control device and a material picking device. The conveying device is used to transmit and carry the slag. In the process of the control device controlling the conveyor belt to transport the slag, the identification device is controlled to collect the image information of the slag to be sorted, and the image information is transmitted to the control device, and the built-in algorithm of the control device is used to determine whether the particles in the slag are valuable metals. In response to the particles in the slag being valuable metals, the multi-directional position adjustment component and the material picking device are further controlled to pick up the identified valuable metals, and according to the identification results, the picked up different types of valuable metals are transported to different material collection bins. Therefore, the valuable metal sorting system for waste incineration slag of the present invention can solve the problems of limited target metals that can be sorted by existing related devices or means, inability to sort fine metals, many sorting impurities, and difficulty in subdividing, enhance the automation and intelligence level of the waste incineration slag post-processing industry, and effectively improve the recovery rate and resource utilization rate of valuable metals in the slag. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic structural diagram of a material picking device according to an embodiment of the present invention is shown.

[0019] Figure 2 A schematic structural diagram of a conveying assembly according to an embodiment of the present invention is shown.

[0020] Figure 3 An exploded view of a conveying assembly according to an embodiment of the present invention is shown.

[0021] Figure 4 A schematic structural diagram of a multi-directional position adjustment assembly according to an embodiment of the present invention is shown.

[0022] Figure 5 A schematic structural diagram of a material collection bin according to an embodiment of the present invention is shown.

[0023] Figure 6 A schematic structural diagram of the barrier cylinder according to an embodiment of the present invention is shown.

[0024] Figure 7 An exploded view of the barrier cylinder according to an embodiment of the present invention is shown.

[0025] Figure 8 A schematic diagram of the connection between the delivery pipe and the branch pipe according to an embodiment of the present invention is shown.

[0026] Fig. 9 A schematic diagram of the external structure of the valuable metal sorting system for waste incineration slag according to an embodiment of the present invention is shown.

[0027] Fig.10 A schematic diagram of the internal structure of the valuable metal sorting system for waste incineration slag according to an embodiment of the present invention is shown.

[0028] Fig.11 A schematic diagram of the structure of the identification component described in an embodiment of the present invention is shown.

[0029] Fig.12 A schematic structural diagram of the active cleaning component described in an embodiment of the present invention is shown.

[0030] Fig.13 A schematic structural diagram of a passive cleaning assembly according to an embodiment of the present invention is shown.

[0031] In the figure, 10 is a conveying assembly, 11 is a guide seat, 111 is a guide hole, 12 is a spring, 13 is a limiter, 14 is a material taking tube, 141 is a first end, 142 is a second end, 143 is a protrusion, 144 is a first limiter surface, 145 is a threaded section, 15 is a first connecting plate, 16 is a second connecting plate, 17 is a mounting platform, and 18 is a material blocking plate; 20—material collection bin, 21—first connecting pipe, 22—second connecting pipe, 23—box body, 24—partition plate, 25—collection container, 26—sealant, 27—box door; 30—blocking cylinder, 31—upper cylinder, 32—middle cylinder, 33—lower cylinder, 34—vent, 35—end cover, 36—first blocking plate, 37—second blocking plate, 38—porous material component; 40—multi-directional position adjustment component, 41—Y-direction moving module, 42—Y-direction connecting member, 43—X-direction moving module, 44—X-direction connecting member, 45—Z-direction moving module, 46—Z-direction connecting member; 50—transmission pipe, 60—branch pipe; 100—conveyor belt; 200—recognition component, 201—image acquisition element, 202—light source, 203—frame, 204—first mounting seat; 300—control device; 400—cleaning assembly, 401—rotating shaft, 402—first bearing mounting seat, 403—second bearing mounting seat, 404—bearing, 405—driving wheel, 406—driven wheel, 407—transmission belt, 408—second mounting seat, 409—driving element, 4091—motor, 4092—reducer; 410—Scrap frame. DETAILED DESCRIPTION

[0032] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. 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. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0033] In one embodiment, see Figures 1 to 3 As shown, the present invention discloses a material picking device, including a conveying assembly 10, a negative pressure generating assembly and a material collecting bin 20; the conveying assembly 10 includes a guide seat 11, a spring 12, a stopper 13 and a material picking tube 14, the guide seat 11 is provided with a guide hole 111 adapted to the outer wall of the material picking tube 14; the spring 12 is sleeved on the outside of the material picking tube 14, one end of the spring 12 is abutted with the guide seat 11, and a protrusion 143 abutted with the other end of the spring 12 is provided on the outer wall of the material picking tube 14. The stopper 13 is fixedly connected to the outer wall of the material picking tube 14, and the guide seat 11 is located between the spring 12 and the stopper 13. In this way, the material picking tube 14 forms an axial floating space under the constraint of the spring 12 and the guide hole 111, which plays a buffering role in the material picking process. When the material picking tube 14 encounters a certain resistance or collision, the spring 12 can absorb the impact force to prevent the material picking tube 14 from being damaged due to rigid collision. At the same time, the spring 12 can also make the material taking tube 14 have a certain degree of self-adaptability, which can be fine-tuned according to the size and state of the material to better adapt to the picking of parts of different sizes. Compared with other high-precision positioning manipulators, it has a simple structure, low cost, low environmental requirements, good working stability, and can better adapt to slag sorting.

[0034] The first end 141 of the feeding tube 14 near the protrusion 143 faces the material picking area, and the second end 142 of the feeding tube 14 near the stopper 13 is connected to the material collecting bin 20; the first end 141 of the feeding tube 14 is in a frustum shape, and the small diameter end of the frustum faces the material picking area. This arrangement reduces the outer diameter of the first end 141 of the feeding tube 14, thereby reducing the contact between the feeding tube 14 and irrelevant slag, and improving the accuracy of picking up valuable metals.

[0035] The negative pressure generated by the negative pressure generating assembly acts on the material taking pipe 14, forming suction in the material taking pipe 14, quickly and effectively sucking the material from the picking area into the material taking pipe, and transporting it to the material collection bin. The negative pressure suction generated by the negative pressure generating assembly can be adjusted according to different material properties and picking requirements, adapting to the picking of various types of materials, and improving the versatility and flexibility of the device.

[0036] For example, see Figure 2 and Figure 3 As shown, the guide seat 11 includes a base plate and a boss extending axially from the middle of the base plate, and the base plate and the boss are provided with a guide hole 111 corresponding to the outer wall of the feeding tube 14. Such a configuration can increase the axial size of the guide hole 111, better restrict the radial shaking of the feeding tube 14, and improve the working stability of the feeding tube 14.

[0037] For example, see Figure 2 and Figure 3 As shown, the stopper 13 is a nut, and a threaded section 145 corresponding to the stopper 13 is provided on the outer wall of the second end 142 of the feeding tube 14. The specific assembly process of the conveying assembly 10 is: the spring 12 is sleeved on the outside of the feeding tube 14, and then the second end 142 of the feeding tube 14 is passed through the guide hole 111 of the guide seat 11, and finally the stopper 13 is screwed into the threaded section 145 of the second end 142 of the feeding tube 14, and the conveying assembly 10 is assembled.

[0038] As a preferred embodiment of the present invention, see Figure 1 , Figure 5 and Figure 6 As shown, a first connecting tube 21 and a second connecting tube 22 are fixed to the material collecting bin 20, wherein the first connecting tube 21 is connected to the material taking tube 14, and the second connecting tube 22 is connected to the negative pressure generating assembly. The second connecting tube 22 is connected to the barrier cylinder 30, and a plurality of vents 34 connected to the interior of the material collecting bin 20 are provided on the side wall of the barrier cylinder 30. The provision of the barrier cylinder 30 effectively prevents the material in the material collecting bin from entering the negative pressure generating assembly through the second connecting tube 22. The vents 34 allow gas to pass through to maintain the transmission of negative pressure, while the material cannot enter the second connecting tube 22 due to being blocked by the barrier cylinder 30, thereby protecting the normal operation of the negative pressure generating assembly, avoiding equipment damage or performance degradation caused by the entry of materials, extending the service life of the negative pressure generating assembly, and reducing maintenance costs.

[0039] The provision of the barrier cylinder 30 also helps to optimize the negative pressure distribution in the material collection bin 20. The presence of the vents 34 enables the negative pressure to act more evenly on the inside of the material collection bin, thereby improving the collection efficiency and stability of the material in the bin. Under the action of negative pressure, the material can be adsorbed and stored in the material collection bin in a more orderly manner, reducing the uneven accumulation or residue of the material and improving the space utilization of the material collection bin. This design has a relatively simple structure while achieving the functions of preventing the material from entering the negative pressure generating component and optimizing the negative pressure distribution. The barrier cylinder 30 is fixedly connected to the second connecting pipe 22, and the provision of the vents 34 is also relatively easy to implement. There is no complex structure and too many parts, which reduces the manufacturing difficulty and cost, while also improving the reliability and stability of the entire device and reducing the possible failure points due to the complex structure.

[0040] Due to the existence of the barrier cylinder 30, even if a small amount of material is attached to its surface or near the vent hole 34, it is relatively easy to clean and maintain. The barrier cylinder 30 can be easily disassembled for cleaning to ensure the normal operation of its ventilation function, thereby ensuring the stable performance of the entire material picking device. Compared with the design without a barrier structure, this method has obvious advantages in maintenance, can reduce equipment downtime, and improve production efficiency.

[0041] Further, see Figure 5 As shown, the first connecting pipe 21 and the second connecting pipe 22 are fixed to the top of the material collection bin 20; on the one hand, it is conducive to the material to fall naturally to the bottom of the material collection bin 20 by gravity, reducing the risk of material accumulation and blockage in the bin, making the material collection process smoother. On the other hand, the top connection method can make the structure of the entire device more compact, which is convenient for installation and layout in a limited space.

[0042] For example, see Figure 5 As shown, the material collection bin 20 includes a box body 23 with a side opening and a box door 27 hinged to the opening of the box body 23. A partition 24 is fixed to the upper part of the inner cavity of the box body 23 of the material collection bin 20, and the upper part of the box body 23 is divided into two chambers by the partition 24. The ends of the first connecting pipe 21 and the second connecting pipe 22 extending into the material collection bin 20 are respectively located in the two chambers. A collection container 25 is arranged at the lower part of the inner cavity of the box body 23 for storing the picked up materials. The setting of the partition 24 can preliminarily buffer and guide the airflow and materials entering the material collection bin 20, so that the materials enter the collection container 25 below in a more orderly manner, reducing the disordered splashing and accumulation of materials in the bin. This clear functional division makes more reasonable use of the internal space of the material collection bin 20, and the materials can be stored in the collection container 25 in a centralized manner, which is convenient for subsequent cleaning and processing. Moreover, the design of the collection container 25 can adjust its volume according to actual needs to meet the needs of collecting different amounts of materials.

[0043] To ensure sealing performance, see Figure 5 As shown, the edge of the box door 27 is coated with a sealant 26. When the box door 27 is closed, the sealant 26 acts as a seal to prevent air leakage, thereby ensuring that the negative pressure generated by the negative pressure generating component can better act on the conveying component 10 through the first connecting pipe 21.

[0044] See also Figure 6 and Figure 7 As shown, the barrier cylinder 30 includes an upper cylinder 31, an intermediate cylinder 32 and a lower cylinder 33 which are connected in sequence, the vent hole 34 is arranged on the side wall of the upper cylinder 31, the upper end opening of the upper cylinder 31 is connected to the second connecting pipe 22, and the lower end opening of the lower cylinder 33 is fixedly connected to the cover plate 35; the outer diameter of the lower cylinder 33 is larger than the outer diameter of the upper cylinder 31, the intermediate cylinder 32 is frustum-shaped, the large diameter end of the intermediate cylinder 32 is connected to the upper end opening of the lower cylinder 33, and the small diameter end of the intermediate cylinder 32 is connected to the lower end opening of the upper cylinder 31.

[0045] By adopting the above structure, the whole material picking device works more stably and reliably. Reasonable pipeline layout and optimized barrier cylinder structure reduce the probability of material blockage, equipment failure and other problems, ensure the stability and reliability of the device during long-term operation, improve production efficiency, and reduce equipment downtime and maintenance costs.

[0046] Further, see Figure 7 As shown, the upper end opening of the upper cylinder 31 is fixed with a first baffle plate 36 and a second baffle plate 37, a porous material component 38 is arranged between the first baffle plate 36 and the second baffle plate 37, and the first baffle plate 36 and the second baffle plate 37 are provided with through holes 39 for gas to flow through; the plane where the first baffle plate 36 and the second baffle plate 37 are located is perpendicular to the axial direction of the upper end opening of the upper cylinder 31.

[0047] The arrangement of the first baffle plate 36 and the second baffle plate 37, combined with the porous material component 38 in the middle, further enhances the ability to block materials from entering the negative pressure generating assembly. Even if a small amount of materials enter the upper cylinder 31 through the vent hole 34, the first baffle plate 36 and the second baffle plate 37 can play a preliminary interception role, and the porous material component 38 can further filter and block fine particles of materials to prevent them from entering the negative pressure generating assembly through the second connecting pipe 22, thereby protecting the normal operation of the negative pressure generating assembly to the greatest extent and reducing the risk of equipment failure caused by the entry of materials.

[0048] Since the first baffle plate 36 and the second baffle plate 37 are provided with through holes for gas to flow through, and the planes on which they are located are perpendicular to the axis direction of the upper end opening of the upper cylinder 31, this design allows the gas to pass through the porous material component 38 and the through holes more evenly, optimizing the flow path of the gas in the barrier cylinder 30. The gas passes more smoothly, reducing turbulence and eddy currents, thereby improving the transmission efficiency and uniformity of negative pressure in the material collection bin 20, facilitating more effective material collection, and improving the working performance of the material picking device.

[0049] In addition to blocking the material, the porous material component 38 can also filter and purify the passing gas to a certain extent. During the material picking process, there may be some tiny particles or impurities flowing with the gas. The porous material component 38 can intercept these impurities, ensuring that the gas entering the negative pressure generating component is relatively clean, extending the service life of the negative pressure generating component and reducing equipment wear and failure caused by impurities in the gas.

[0050] The structure is relatively simple, mainly consisting of a first baffle plate 36, a second baffle plate 37 and a porous material component 38, without complex mechanical structures or too many parts. This makes the manufacturing and installation process relatively simple and low-cost. At the same time, in terms of maintenance, components such as porous material components can be easily disassembled and replaced. When cleaning or replacement is required, operators can operate more easily, reducing maintenance time and workload and improving the maintainability of the equipment. Through the above-mentioned effective management of gases and materials, this structural design improves the stability and reliability of the entire material picking device. It reduces equipment failures and performance degradation caused by materials entering the negative pressure generating components or poor gas flow, ensures that the device can operate stably for a long time, improves production efficiency, and reduces equipment downtime and maintenance costs, which is of great significance for ensuring the continuity and stability of the production process.

[0051] As a preferred embodiment of the present invention, a circumferential limiting structure is provided between the outer wall of the material taking pipe 14 and the guide hole of the guide seat 11 .

[0052] The setting of the circumferential limit structure effectively prevents the unnecessary rotation of the feeding tube 14 during operation, ensuring that the feeding port of the feeding tube 14 is always kept in the correct direction and position, so that the material can be picked up accurately. In addition, during the installation and debugging process, the circumferential limit structure can provide a clear positioning reference for the installation of the feeding tube 14, so that the feeding tube 14 can be quickly and accurately installed in the correct position of the guide seat 11, reducing the time and workload of installation and debugging, and improving the installation efficiency of the equipment.

[0053] For example, see Figure 3As shown, the circumferential limiting structure includes a first limiting plane 144 arranged on the outer wall of the material taking tube 14, and a second limiting plane arranged on the inner wall of the guide hole 111, and the first limiting plane 144 and the second limiting plane correspond to each other.

[0054] As a preferred embodiment of the present invention, see Figure 1 As shown, the material picking device also includes a multi-directional position adjustment component 40, and the guide seat 11 is fixedly connected to the multi-directional position adjustment component 40. The position of the material picking tube 14 is adjusted by the multi-directional position adjustment component 40 so that the first end 141 of the material picking tube 14 faces the material picking area.

[0055] The multi-directional position adjustment component 40 can adjust the position of the material picking tube 14 in multiple directions, so as to flexibly adapt to different material picking areas and material placement positions. Whether it is the change in the horizontal position of the material or the difference in the vertical height, it can be quickly and accurately adjusted through the adjustment component, which greatly improves the adaptability of the material picking device to complex working environments and broadens its application range.

[0056] By accurately adjusting the position of the material taking tube 14, it is possible to ensure that the first end 141 of the material taking tube 14 is accurately facing the material picking area, thereby improving the accuracy of material picking. In some work scenarios that require high picking accuracy, such as picking up precision parts, this precise positioning capability can effectively avoid material damage or picking failure caused by position deviation of the material taking tube 14, thereby improving production quality and efficiency.

[0057] During the installation and commissioning of the equipment, the multi-directional position adjustment component 40 can easily fine-tune the position of the material collection tube so that the material collection tube reaches the optimal working position. During equipment maintenance, if the material collection tube 14 needs to be replaced or adjusted, the material collection tube 14 can also be easily moved to a suitable position through the multi-directional position adjustment component 40, which reduces the difficulty of equipment commissioning and maintenance, and saves time and labor costs. And the position of the material collection tube 14 can be quickly adjusted according to different production tasks and material characteristics, so as to achieve rapid switching and optimization of material picking work. For example, when different types of materials need to be picked up on a production line, the position of the material collection tube can be quickly adjusted through the multi-directional position adjustment component to adapt to the picking requirements of different materials, thereby improving the working efficiency and flexibility of the production line.

[0058] Since the multi-directional position adjustment component 40 enables the material picking tube 14 to adapt to a variety of work scenarios, the need to replace equipment or rearrange production lines due to changes in material positions is reduced, thereby improving equipment utilization and return on investment. Enterprises can use the same set of material picking devices in different production tasks, reducing production costs. The existence of the multi-directional position adjustment component 40 facilitates the functional expansion of the material picking device. For example, in subsequent upgrades, more sensors or actuators can be added, and their positions can be adjusted through the multi-directional position adjustment component 40 to achieve more complex material picking and processing functions, thereby enhancing the scalability and development potential of the equipment.

[0059] For example, see Figure 4 As shown, the multi-directional position adjustment assembly 40 includes a Y-direction moving module 41 , a Y-direction connecting member 42 , an X-direction moving module 43 , an X-direction connecting member 44 , a Z-direction moving module 45 and a Z-direction connecting member 46 .

[0060] The number of the Y-direction moving modules 41 is two, and the two Y-direction moving modules 41 are arranged in parallel and spaced apart. The Y-direction connecting member 42 corresponds to the Y-direction moving module 41, and the Y-direction connecting member 42 can make a linear reciprocating motion in the Y direction under the drive of the Y-direction moving module 41. The X-direction moving module 43 is fixedly connected to the Y-direction connecting member 42, and the X-direction connecting member 44 corresponds to the X-direction moving module, and the X-direction connecting member 44 can make a linear reciprocating motion in the X direction under the drive of the X-direction moving module 43. The Z-direction moving module 45 is fixedly connected to the X-direction connecting member 44, and the Z-direction connecting member 46 corresponds to the Z-direction moving module 45, and the Z-direction connecting member 46 can make a linear reciprocating motion in the Z direction under the drive of the Z-direction moving module 45. The guide seat 11 of the conveying assembly 10 is fixedly connected to the Z-direction connecting member 46 through the first connecting plate 15.

[0061] As a preferred embodiment of the present invention, see Figure 8 As shown, the second end 142 of the material taking pipe 14 is connected to multiple material collecting bins 20 through a conveying pipe 50, the feeding end of the conveying pipe 50 is connected to the second end 142 of the material taking pipe 14, and the discharging end of the conveying pipe 50 is connected to at least one branch pipe 60, and each material collecting bin 20 is connected to at least one branch pipe 60.

[0062] The material collection pipe 14 is connected to a plurality of material collection bins 20 through a conveying pipe 50, so that a plurality of materials can be collected in a dispersed manner. When there are many types of materials to be collected, each material collection bin 20 collects one type of material.

[0063] Different material collection bins 20 can be used to collect different types of materials. For example, in a production process, materials of various materials, shapes or uses may be picked up. By connecting the branch pipes 60 of the conveying pipe 50 to different material collection bins 20, these materials can be conveniently classified and collected, which is convenient for subsequent processing and management. This design improves the adaptability of the material picking device to different materials and increases the versatility of the equipment.

[0064] The provision of multiple material collection bins 20 makes the storage and management of materials more orderly. Each material collection bin 20 can be specifically identified and managed according to the characteristics and usage requirements of the materials, which facilitates operators to quickly find the required materials and improves the efficiency of material processing. At the same time, it is also conducive to statistics and monitoring of information such as the quantity and quality of materials. In addition, multiple material collection bins 20 can be reasonably arranged according to the actual spatial layout, making full use of the space around the equipment and avoiding space waste caused by a single large-capacity material collection bin 20 occupying too much space. This flexible spatial layout method helps to improve the installation and use efficiency of the equipment and adapt to different working environments.

[0065] The multiple material collecting bins 20 are independent of each other but connected by a conveying pipe 50. When one of the material collecting bins 20 has a problem (such as blockage, damage, etc.), the other material collecting bins 20 can still continue to work, ensuring the normal operation of some functions of the material picking device, improving the reliability and stability of the entire system, and reducing the risk of the entire system shutting down due to failure of a single component.

[0066] This design has good scalability. If the number of material collection bins 20 needs to be increased or the material collection method needs to be changed in the subsequent production process, only the branch pipes 60 of the conveying pipe 50 need to be adjusted and connected accordingly, and there is no need to perform large-scale transformation on the entire material picking device.

[0067] In one embodiment, see Fig.10 As shown, the present invention discloses a waste incineration slag valuable metal sorting system, which includes a conveying device, an identification device, a control device 300 and the above-mentioned material picking device; the conveying device includes a conveyor belt 100 for transmitting and carrying slag; the identification device includes an identification component 200 for detecting metal in the material to be sorted; the material picking device is located downstream of the identification device; the control device 300 is controlled and connected with the conveying device, the identification device and the material picking device.

[0068] The present invention uses a conveyor belt 100 to transmit and carry slag. When the control device 300 controls the conveyor belt 100 to transport the slag, the control device 300 controls the recognition device to collect image information of the slag to be sorted, and transmits the image information to the control device 300, and uses the built-in algorithm of the control device to determine whether the particles in the slag are valuable metals. In response to the particles in the slag being valuable metals, the multi-directional position adjustment component and the material picking device are further controlled to pick up the identified valuable metals, and according to the recognition results, the picked up different types of valuable metals are transported to different material collection bins 20. Therefore, the technical solution of the present application can solve the problems of limited target metals that can be sorted by existing related devices or means, inability to sort fine metals, many sorting impurities, and difficulty in segmentation, enhance the automation and intelligence level of the waste incineration slag post-processing industry, and effectively improve the recovery rate and resource utilization rate of valuable metals in the slag.

[0069] When used specifically, the waste incineration slag, which has been pre-processed by crushing, cleaning, etc., is loaded to the starting end of the conveyor belt 100 in the waste incineration slag valuable metal sorting system through a loading machine or other means, and the conveyor belt 100 drives the slag to move. During the operation of this system, the image acquisition element 201 in the recognition component 200 will continuously capture video images, and transmit the captured video images to the control device 300 for algorithm recognition to determine whether there are valuable metals; If it is determined that there is no valuable metal, the material picking device does not take any action, and the corresponding slag is further conveyed via the conveyor belt 100 and finally falls into the waste frame 410; If it is determined that there are valuable metals, the control device 300 further controls the material picking device to act according to the type and position information of the valuable metals, specifically by controlling the multi-directional position adjustment component 40 of the material picking device to move the material picking tube 14 to the target position; at the same time, the material picking tube 14 performs height position adaptive adjustment for target metals of different sizes. Specifically, when the size of the identified valuable metal in the Z direction is too large, that is, the height is too high, the valuable metal will push the material picking tube 14 to move upward along the guide hole 111 of the guide seat 11. In addition, the control device 300 issues instructions to control the conveying component 10 corresponding to the identified valuable metal type to work, so that the inner cavity of the material picking tube 14 forms a negative pressure in time, thereby realizing the picking and collection of the identified valuable metals.

[0070] The remaining slag after picking up is further conveyed by the conveyor belt 100 and falls into the waste frame 410 .

[0071] During the picking process of the material picking device, when the valuable metal is just sucked into the material collecting bin 20 from the first connecting pipe 21, the partition 24 blocks the target metal from moving toward the blocking cylinder 30 and falling into the collecting container 25 below the material collecting bin 20. At the same time, the vents 34 on the outer cylinder of the blocking cylinder 30 prevent the sucked metal, impurities, etc. from entering the inside of the blocking cylinder 30. If fine metal or impurities enter, the first blocking plate 36, the second blocking plate 37 and the porous material component 38 in the blocking cylinder 30 will prevent them from further entering the second connecting pipe 22. The metal and impurities entering the blocking cylinder 30 can be taken out by unscrewing the end cap 35.

[0072] See also Fig. 9 As shown, the waste incineration slag valuable metal sorting system is arranged in a frame 500, and the opening position of the frame 500 is blocked by a plate 600, wherein a window 700 is provided on the plate 600 corresponding to the material picking device, and the window 700 is made of transparent plastic or glass for observing the operation of the material picking device. In order to facilitate the movement of the frame 500, a roller 800 is fixed at the bottom of the frame 500.

[0073] The upper end of the frame 500 is fixed with a mounting platform 17 at an opening position corresponding to the upper surface of the conveyor belt 100, and the multi-directional position adjustment assembly 40 of the material picking device is fixed on the mounting platform 17 through the second connecting plate 16. A material blocking plate 18 is fixed at the top opening position of the frame 500 to prevent the slag on the conveyor belt 100 from overflowing.

[0074] As a preferred embodiment of the present invention, see Fig.11 As shown, the recognition component 200 includes an image acquisition element 201 and a light source 202 acting on the slag on the conveyor belt 100 .

[0075] Specifically, the image acquisition element 201 is fixed on a frame 203 , and the frame 203 is fixed in the frame 500 .

[0076] The light source 202 includes a central hole light source and a strip light source; the central hole light source is a surface light source with a hole in the middle, or a ring light source. The strip light source can be increased or decreased in number according to actual conditions to adjust the brightness and uniformity of the target field of view. The strip light source is fixed to the frame 203 through the first mounting seat 204. Fig.10 As shown, the identification component 200 is provided with a light-shielding shell on the outside, and the light-shielding shell is used to block external light, thereby avoiding or reducing the influence of changes in ambient light on the image effect.

[0077] As a preferred embodiment of the present invention, it also includes a cleaning component 400 arranged at the output end of the conveyor belt and a waste collection bin 410 arranged below the output end of the conveyor belt.

[0078] See also Fig.12 As shown, the cleaning assembly 400 is an active structure, specifically comprising: a rotating shaft 401, a first bearing mounting seat 402, a second bearing mounting seat 403, a bearing 404, a driving wheel 405, a driven wheel 406, a transmission belt 407, a second mounting seat 408 and a driving element 409, wherein the driving element 409 comprises a motor 4091 and a reducer 4092. The two ends of the rotating shaft 401 are respectively matched with the bearings 404 fixed in the first bearing mounting seat 402 and the second bearing mounting seat 403, and a driven wheel 406 is fixed on the outer wall of one end of the rotating shaft 401 close to the first bearing mounting seat 402, and the driven wheel 406 is connected to the driving wheel 405 through the transmission belt 407, and the driving wheel 405 is connected to the power output end of the reducer 4092 through the transmission. The motor 4091 is installed on the reducer 4092, and the reducer 4092 is installed on the first bearing mounting seat 402 through the second mounting seat 408. The motor 4091 drives the rotating shaft 401 to actively move through the reducer 4092 and the transmission belt 407, thereby driving the cleaning brush on the rotating shaft 401 to actively rotate, thereby cleaning the conveyor belt 100.

[0079] See also Fig.13 As shown, the cleaning assembly 400 is a passive structure, specifically comprising: a rotating shaft 401, a first bearing mounting seat 402, a second bearing mounting seat 403 and a bearing 404. When the conveyor belt 100 is running, it drives the cleaning brush fixed on the rotating shaft 401 to rotate.

[0080] During the operation of the system, the motor 409 in the active conveyor belt cleaning component 400 is controlled to work continuously or intermittently to achieve timely cleaning of the conveyor belt 100, effectively reduce the impact of dust in the slag, and ensure the image quality captured by the image acquisition element 201 of the recognition component 200. If a passive conveyor belt cleaning component is used, the cleaning brush in the cleaning component 400 is driven to rotate when the conveyor belt 100 is running, so as to achieve continuous cleaning of the conveyor belt 100.

[0081] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A material picking device, characterized in that: It includes a conveying component, a material collecting bin and a negative pressure generating component; The conveying assembly includes a guide seat, a spring, a limiter and a feeding tube, wherein the guide seat is provided with a guide hole adapted to the outer wall of the feeding tube; the spring is sleeved on the outside of the feeding tube, one end of the spring is in abutment with the guide seat, and the outer wall of the feeding tube is provided with a protrusion in abutment with the other end of the spring; the limiter is fixedly connected to the outer wall of the feeding tube, and the guide seat is located between the spring and the limiter; the first end of the feeding tube close to the protrusion faces the material picking area, and the second end of the feeding tube close to the limiter is connected to the material collecting bin; The first end of the material taking pipe is in the shape of a frustum, and the small diameter end of the frustum faces the material picking area; The negative pressure generated by the negative pressure generating assembly acts on the material taking pipe.

2. The material picking device according to claim 1, characterized in that: A first connecting pipe and a second connecting pipe are fixed to the material collecting bin, the first connecting pipe is connected to the material taking pipe, and the second connecting pipe is connected to the negative pressure generating component; The second connecting pipe is communicated with the barrier cylinder, and a plurality of vent holes communicating with the interior of the material collecting bin are arranged on the side wall of the barrier cylinder.

3. The material picking device according to claim 2, characterized in that: The first connecting pipe and the second connecting pipe are fixed to the top of the material collecting bin; The barrier cylinder comprises an upper cylinder, an intermediate cylinder and a lower cylinder connected in sequence, the vent hole is arranged on the side wall of the upper cylinder, the upper end opening of the upper cylinder is communicated with the second connecting pipe, and the lower end opening of the lower cylinder is fixedly connected to the cover plate; The outer diameter of the lower cylinder is greater than that of the upper cylinder. The middle cylinder is in a frustum shape. The large diameter end of the middle cylinder is connected to the upper opening of the lower cylinder, and the small diameter end of the middle cylinder is connected to the lower opening of the upper cylinder.

4. The material picking device according to claim 3, characterized in that: The upper end opening of the upper cylinder is fixed with a first baffle plate and a second baffle plate, a porous material component is arranged between the first baffle plate and the second baffle plate, and the first baffle plate and the second baffle plate are provided with through holes for gas to flow through; The plane where the first baffle plate and the second baffle plate are located is perpendicular to the axis direction of the upper end opening of the upper cylinder.

5. The material picking device according to claim 1, characterized in that: A circumferential limiting structure is provided between the outer wall of the material taking pipe and the guide hole of the guide seat.

6. The material picking device according to claim 1, characterized in that: It also includes a multi-directional position adjustment component, the guide seat is fixedly connected to the multi-directional position adjustment component, and the position of the material collection tube is adjusted by the multi-directional position adjustment component so that the first end of the material collection tube faces the material picking area.

7. The material picking device according to claim 1, characterized in that: The second end of the material taking pipe is connected to multiple material collecting bins through a conveying pipe, the feeding end of the conveying pipe is connected to the second end of the material taking pipe, the discharging end of the conveying pipe is connected to at least one branch pipe, and each material collecting bin is connected to at least one branch pipe.

8. A system for sorting valuable metals from waste incineration slag, characterized by: It comprises a conveying device, an identification device, a control device and a material picking device as claimed in any one of claims 1 to 7; The conveying device includes a conveyor belt for transmitting and carrying slag; The identification device includes an identification component for detecting metals in the material to be sorted; The material picking device is located downstream of the identification device; The control device is in control connection with the conveying device, the identifying device and the material picking device.

9. The valuable metal sorting system for waste incineration slag according to claim 8, characterized in that: The recognition assembly includes an image acquisition element and a light source acting on the slag on the conveyor belt.

10. The valuable metal sorting system for waste incineration slag according to claim 8, characterized in that: It also includes a cleaning component arranged at the output end of the conveyor belt and a waste collection bin arranged below the output end of the conveyor belt.

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