Automatic material pouring and sorting device and method for grinding pot

Abstract

The invention relates to an automatic pouring and sorting device and method for a grinding pot. The automatic pouring and sorting device for the grinding pot comprises a rack, a transfer module, a clamping and overturning module, a sorting module and a cleaning and dust removing module, and the transfer module, the clamping and overturning module, the sorting module and the cleaning and dust removing module are installed on the rack and cooperate to achieve automatic pouring and sorting of the grinding pot. Through automatic transferring of the mechanical arm, rapid overturning of the motor and cooperation of multiple modules, the single-time sorting time is shortened to 30-40 s, the sorting amount per hour of a single machine reaches 90-120 times, the sorting amount is increased by 6-8 times compared with manual operation, the sorting amount is increased by 4-5 times compared with simple mechanical operation, and the large-scale production requirement is met.

Description

Technical Field

[0001] This application relates to the technical field of grinding pan cleaning devices, and in particular to an automatic grinding pan discharging and sorting device and method. Background Technology

[0002] In precision manufacturing, new material processing and other fields, grinding pans are commonly used material grinding equipment. The grinding ring and grinding kernel inside the pan achieve fine grinding of materials through high-speed relative motion. After the grinding operation is completed, the material in the grinding pan needs to be separated from the grinding ring and grinding kernel. At the same time, it is necessary to avoid material loss, cross-contamination and dust diffusion. This process is called "material unloading and sorting".

[0003] In existing technologies, material sorting mainly relies on two methods: one is manual operation, where operators manually flip the grinding pot to pour out the material, separate the material from the grinding ring and grinding kernel through the filter screen, and then manually clean the filter screen of residual material and recover the grinding ring and grinding kernel; the other is simple mechanical assisted operation, where the grinding pot is flipped by a cylinder, but it lacks precise clamping and positioning, cleaning and dust removal and anti-wall design.

[0004] However, the aforementioned existing technologies have obvious drawbacks: Low efficiency: Manual operation requires multiple people to cooperate, and a single sorting takes 3-5 minutes, and the labor intensity is high; although simple machinery reduces human intervention, the turning speed is slow, there is no automated transfer function, and the sorting capacity of a single machine is less than 20 times per hour, which is difficult to adapt to the needs of large-scale production.

[0005] High material loss: Manual unloading easily leads to material spillage, and the residual material on the filter screen is difficult to clean thoroughly, with a material loss rate of 5-8% per sorting session; the unloading channel of simple machinery has no anti-wall design, and the material is adsorbed and residual on the inner wall of the channel, further increasing the loss.

[0006] High risk of contamination: During manual operation, materials are directly exposed to the air and are easily contaminated by environmental dust; when sorting different batches of materials, the filter screen and the feeding channel have no cleaning function, which can easily lead to cross-contamination, and it is especially unsuitable for the processing of high-purity materials (such as carbides and ceramic powders).

[0007] Poor operational stability: The flipping mechanism of simple machinery lacks a precise reset design, and positional deviation is prone to occur after repeated operations, resulting in material pouring position deviation; the clamping structure is mostly made of hard metal, which can easily scratch the outer wall of the grinding pot, and the clamping of carbide grinding rings and grinding kernels can easily lead to detachment, affecting operational safety.

[0008] To address the aforementioned issues, the industry urgently needs a device that integrates "automatic transfer, precise clamping, efficient sorting, and cleaning and pollution prevention" to improve sorting efficiency, reduce material loss, and ensure material purity. Summary of the Invention

[0009] To address or partially address the problems existing in related technologies, this application provides an automatic grinding pan unloading and sorting device and method. Through automatic transfer by a robotic arm, rapid rotation by a motor, and multi-module collaboration, the single sorting time is shortened to 30-40 seconds, and the hourly sorting capacity of a single machine reaches 90-120 times. This is 6-8 times faster than manual operation and 4-5 times faster than simple machinery, making it suitable for large-scale production needs.

[0010] This application provides an automatic material pouring and sorting device for a grinding pot, including a frame 1, a transfer module 2, a clamping and flipping module 3, a receiving module 4, a cleaning and dust removal module 5, and a grinding pot support basket 6. The transfer module 2, clamping and flipping module 3, sorting module 4, and cleaning and dust removal module 5 are installed on the frame 1 to work together to realize the automatic material pouring and sorting of the grinding pot 7. Transfer module 2: Used for transferring grinding pot 7; Clamping and flipping module 3: includes base 31, drive motor 32 and bidirectional clamping cylinder 33 rotatably mounted on base 31 via drive motor 32. Two ends of bidirectional clamping cylinder 33 are respectively equipped with a base support 34 for supporting grinding pot 7 and a strip sieve plate 35 for pressing the top of grinding pot 7. Bidirectional clamping cylinder 33 is used to drive base support 34 and strip sieve plate 35 to clamp grinding pot 7. Drive motor 32 is used to drive base support 34 and strip sieve plate 35 to rotate grinding pot 7 180° around horizontal axis. Material receiving module 4: Located directly below the tilting path of the grinding pot 7, it is used to receive the material poured out by the grinding pot 7; Cleaning and dust removal module 5: Located above the receiving module 4, it is used to clean the receiving module 4; Grinding pot support basket 6: Used to support the grinding pot 7 after the material has been poured out.

[0011] Optionally, in some embodiments, the receiving module 4 includes a conical funnel 41 located directly below the turning path of the grinding pot 7, and a receiving cup 42 located below the conical funnel 41. The receiving cup 42 is mounted on the frame 1 via a lifting mechanism 43, and at least two vibrators 44 are installed on the outer wall of the conical funnel 41.

[0012] Optionally, in some embodiments, the cleaning and dust removal module 5 includes: Dust collector frame 51: Installed on frame 1, located on one side of receiving module 4; Lifting cylinder 52: Installed on dust collector frame 51; Dust removal disc 53: Installed on the telescopic component of lifting cylinder 52, directly above conical funnel 41. Dust removal disc 53 is equipped with air supply mechanism 54. Rotary air nozzle 55 is installed in the middle of the bottom surface of dust removal disc 53. An annular spray groove 56 matching the upper part of conical funnel 41 is provided on the bottom circumferential surface of dust removal disc 53. External nozzles 57 are evenly installed in the annular spray groove 56. The external nozzles 57 form annular spray air in the annular spray groove 56. Rotary air nozzle 55 and external nozzle 57 are respectively connected to air supply mechanism 54.

[0013] Optionally, in some embodiments, the transfer module 2 includes a robotic arm with a low-hardness polyurethane gripper pad on the inner side of the gripper, and the robotic arm is integrated with a sensor for real-time detection of the grinding pot's clamping status.

[0014] Optionally, in some solutions, the material sorting device further includes a reset module mounted on the clamping and flipping module 3. The reset module includes a servo motor 36 and a position encoder. The servo motor 36 is linked with the drive motor 32 to drive the base 34 and the strip screen plate 35 to reset to a position with an angle of 45° to the horizontal position after flipping. The position encoder is electrically connected to the servo motor 36 to detect the reset position of the base 34 and the strip screen plate 35 in real time to ensure reset accuracy. The orientation of the screen bars of the strip screen plate 35 is perpendicular to the rotating shaft of the drive motor 32, and a positioning notch is provided on the outer ring of the strip screen plate 35. The positioning notch is located at one end of the middle screen bar. After the base 34 and the strip screen plate 35 are reset, the grinding pot 7 slides to the positioning notch under the action of gravity to achieve gravity positioning, which is convenient for the robot arm to grasp.

[0015] Optionally, in some embodiments, the base 31 is provided with a circular slide rail 39, and the bidirectional clamping cylinder 33 is provided with a sturdy connector. The sturdy connector is slidably mounted on the circular slide rail 39 to ensure the stability of the rotation of the bidirectional clamping cylinder 33.

[0016] Optionally, in some solutions, the base 31 of the clamping and flipping module 3 is slidably mounted on the frame 1 via a slide rail 37. A linear module 38 is arranged parallel to one side of the slide rail 37. The linear module 38 is connected to the base 31 via a connector, and the base 31 is driven to slide on the slide rail 37 by the linear module 38.

[0017] An automatic material discharging and sorting method for a grinding pan includes the following steps: S1: Transfer and positioning: The robotic arm holds the grinding pot 7, and the sensor detects the clamping pressure in real time. After ensuring that the grinding pot is stably clamped, the grinding pot is transferred to the base 34. S2: Clamping and fixing: The linear module 38 drives the base 31 to slide on the slide rail 37, so that the grinding pot 7 is directly above the conical funnel 41. The bidirectional clamping cylinder 33 is activated, driving the base support 34 and the strip sieve plate 35 to clamp the grinding pot 7. S3: Tilting and Discharging: Drive motor 32 drives base 34 to rotate 180° around horizontal axis. The material in grinding pot 7 falls into the conical funnel 41 below under the action of gravity. The grinding ring and grinding kernel are intercepted by strip screen plate 35. Vibrator 44 works and the material falls from conical funnel 41 into receiving cup 42 below for collection. S4: Reset and Recycling: Drive motor 32 rotates in the opposite direction. With the cooperation of servo motor 36 and position encoder, drive base 34 and strip screen plate 35 to reset to a position with an angle of 45° with the horizontal position after flipping. The robot grips the grinding pot 7, and the bidirectional clamping cylinder 33 drives the base 34 and strip screen plate 35 to open. The robot moves the grinding pot 7 to be placed vertically in the grinding pot support basket 6. S5: Cleaning and dust removal: The lifting cylinder 52 drives the rotating dust removal disc 53 to descend to the top of the conical funnel 41. The rotating air nozzle 55 starts and rotates around the vertical axis to spray air. The external nozzle 57 starts to form an annular spray air in the annular spray groove 56 to blow air through the conical funnel 41.

[0018] Optionally, in some schemes, in S3, the vibration frequency of vibrator 44 is adjusted according to the particle size of the material. When the particle size of the material is ≤0.5mm, the vibration frequency is set to 40-50Hz, and when the particle size of the material is >0.5mm, the vibration frequency is set to 20-30Hz. The purging pressure of the rotating air nozzle 55 and the external nozzle 57 is 0.4-0.6MPa, and the purging time is 10-20s.

[0019] The technical solution provided in this application may include the following beneficial effects: 1. Achieve full automation of grinding, pouring, and sorting processes, completely replacing manual operation, significantly reducing manpower input, lowering the labor intensity and human error of manual sorting, and increasing production efficiency by more than 30%; 2. The material pouring and sorting actions are precise and controllable. Through the coordination of mechanical structure limit and power drive, material spillage and loss are avoided, the material recovery rate is improved, and the production cost is reduced. 3. High sorting accuracy, enabling efficient separation of products from grinding media. Combined with a spray or sieving structure, it reduces media residue and ensures the stability of product processing quality. 4. The equipment is highly adaptable and its parameters can be adjusted according to different specifications of grinding pans and products. It is compatible with the processing of multiple types of workpieces, reduces equipment replacement costs, and improves production flexibility. 5. The optimized working environment reduces the risk of manual contact with grinding fluid and dust, while the optional water circulation mechanism enables resource recycling, which is in line with the concept of green production. 6. Automated processes facilitate integration with other equipment on the production line, enabling continuous production, shortening the production cycle, and improving overall capacity and factory intelligence.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0022] Figure 1 This is a schematic diagram of the structure of the automatic discharging and sorting device for the grinding pan shown in the embodiments of this application; Figure 2 This is another structural schematic diagram of the automatic feeding and sorting device for the grinding pan shown in the embodiments of this application. Figure 3 This is a schematic diagram of the transfer module shown in the embodiments of this application; Figure 4 This is a schematic diagram of the installation structure of the clamping and flipping module shown in an embodiment of this application; Figure 5 This is a schematic diagram of the cleaning and dust removal module shown in the embodiments of this application; Figure 6 This is another structural schematic diagram of the cleaning and dust removal module shown in the embodiments of this application.

[0023] Figure label: 1-Frame, 2-Transfer module, 3-Clamping and flipping module, 4-Receiving module, 5-Cleaning and dust removal module, 6-Grinding pot support basket, 7-Grinding pot; 31-Base, 32-Drive motor, 33-Two-way clamping cylinder, 34-Base support, 35-Strip screen plate, 36-Servo motor, 37-Slide rail, 38-Linear module, 39-Circular slide rail; 41-Conical funnel, 42-Receiving cup, 43-Lifting mechanism, 44-Vibrator; 51-Dust collector frame, 52-Lifting cylinder, 53-Dust collector disc, 54-Air supply mechanism, 55-Rotating air nozzle, 56-Annular jet trough, 57-External nozzle. Detailed Implementation

[0024] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0025] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0026] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0027] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] To address the aforementioned issues, this application provides an automatic grinding pan unloading and sorting device and method. Through automatic transfer by a robotic arm, rapid rotation by a motor, and multi-module collaboration, the sorting time for a single operation is reduced to 30-40 seconds, and the sorting capacity per hour reaches 90-120 times. This is 6-8 times faster than manual operation and 4-5 times faster than simple machinery, making it suitable for large-scale production needs.

[0029] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0030] See Figure 1-4The automatic material pouring and sorting device for the grinding pot includes a frame 1, a transfer module 2, a clamping and flipping module 3, a receiving module 4, a cleaning and dust removal module 5, and a grinding pot support basket 6. The transfer module 2, the clamping and flipping module 3, the sorting module 4, and the cleaning and dust removal module 5 are installed on the frame 1 to work together to realize the automatic material pouring and sorting of the grinding pot 7. Transfer module 2: Used for transferring grinding pot 7; Clamping and flipping module 3: includes base 31, drive motor 32 and bidirectional clamping cylinder 33 rotatably mounted on base 31 via drive motor 32. Two ends of bidirectional clamping cylinder 33 are respectively equipped with a base support 34 for supporting grinding pot 7 and a strip sieve plate 35 for pressing the top of grinding pot 7. Bidirectional clamping cylinder 33 is used to drive base support 34 and strip sieve plate 35 to clamp grinding pot 7. Drive motor 32 is used to drive base support 34 and strip sieve plate 35 to rotate grinding pot 7 180° around horizontal axis. Material receiving module 4: Located directly below the tilting path of the grinding pot 7, it is used to receive the material poured out by the grinding pot 7; Cleaning and dust removal module 5: Located above the receiving module 4, it is used to clean the receiving module 4; Grinding pot support basket 6: Used to support the grinding pot 7 after the material has been poured out.

[0031] During operation, frame 1 provides overall support, transfer module 2 automates the loading and unloading of grinding pot 7, and in clamping and flipping module 3, bidirectional clamping cylinder 33 drives base support 34 and strip screen plate 35 to clamp grinding pot 7, drive motor 32 to rotate the whole unit 180°, using gravity to dump the material, while strip screen plate 35 intercepts grinding ring and grinding kernel; receiving module 4 receives the material below, cleaning and dust removal module 5 actively cleans the receiving parts, and grinding pot support basket 6 recovers the empty grinding pot, forming a closed-loop operation of "transfer-clamping-flipping-receiving-cleaning-recovery". It achieves full automation, replacing manual operation, shortening the single sorting time to 30-40 seconds, and the hourly sorting volume to 90-120 times, which is 6-8 times higher than manual operation; the coordinated action of clamping and flipping avoids material spillage caused by shaking of grinding pot 7, reducing the material loss rate to below 0.5%; all modules are integrated into frame 1, with a compact structure, reducing the floor space by 30%, and adapting to large-scale workshop layouts.

[0032] In some embodiments, the receiving module 4 includes a conical funnel 41 located directly below the turning path of the grinding pot 7, and a receiving cup 42 located below the conical funnel 41. The receiving cup 42 is mounted on the frame 1 via a lifting mechanism 43, and at least two vibrators 44 are mounted on the outer wall of the conical funnel 41.

[0033] During operation, the conical funnel 41 uses gravity to guide the material down the inclined wall, avoiding material accumulation caused by the right-angle structure. The receiving cup 42 adjusts its height via the lifting mechanism 43 to accommodate different capacity requirements, ensuring accurate material entry. Two vibrators 44 are symmetrically arranged, using high-frequency vibration (20-50Hz) to counteract the adhesion between the material and the inner wall of the conical funnel 41, promoting rapid material descent. The conical structure and vibration work together to reduce material adhesion to the wall to below 0.3%, reducing material loss by 80% compared to a vibration-free design. The lifting mechanism 43 adapts to receiving cups 42 of different heights, compatible with a capacity range of 100-500mL, improving equipment versatility by 50%. The dual vibrators 44 avoid localized accumulation caused by single vibration, improving feeding efficiency by 40% and adapting to different flowability materials such as powders and granules.

[0034] like Figure 5-6 As shown, in some embodiments, the cleaning and dust removal module 5 includes: Dust collector frame 51: Installed on frame 1, located on one side of receiving module 4; Lifting cylinder 52: Installed on dust collector frame 51; Dust removal disc 53: Installed on the telescopic component of lifting cylinder 52, directly above conical funnel 41. Dust removal disc 53 is equipped with air supply mechanism 54. Rotary air nozzle 55 is installed in the middle of the bottom surface of dust removal disc 53. An annular spray groove 56 matching the upper part of conical funnel 41 is provided on the bottom circumferential surface of dust removal disc 53. External nozzles 57 are evenly installed in the annular spray groove 56. The external nozzles 57 form annular spray air in the annular spray groove 56. Rotary air nozzle 55 and external nozzle 57 are respectively connected to air supply mechanism 54.

[0035] During cleaning, the lifting cylinder 52 drives the dust removal disc 53 to descend to the top of the conical funnel 41, forming a semi-enclosed space. The air supply mechanism 54 provides compressed air (0.4-0.6MPa), and the internal rotating air nozzles 55 perform 360° rotational blowing to clean the residue in the middle and bottom of the funnel's inner wall. The external nozzles 57 are evenly arranged along the annular blowing groove 56, forming an annular airflow barrier to prevent dust from overflowing while cleaning the upper part and edge dead corners of the funnel. The coordinated internal and external blowing achieves a funnel cleanliness of over 99%, completely avoiding cross-contamination between different batches of materials and meeting the processing requirements of high-purity materials. The semi-enclosed space design reduces dust diffusion to below 0.1mg / m³, improving the working environment. The blowing parameters are adjustable to adapt to cleaning needs with different levels of contamination, increasing energy utilization by 30%.

[0036] In some embodiments, the transfer module 2 includes a robotic arm with a low-hardness polyurethane gripper pad on the inner side of the gripper claw, and the robotic arm is integrated with a sensor for real-time detection of the holding status of the grinding pot. The specific structure of the robotic arm is prior art and will not be described in detail.

[0037] During operation, the robotic arm uses a high-precision model (repeatability ±0.05mm) to accurately pick up and place the grinding pot 7. Low-hardness polyurethane gripper pads (50-60 Shore A) conform to the outer wall of the grinding pot 7 through elastic deformation, increasing the contact area while preventing hard scratches. Sensors monitor the clamping pressure in real time (threshold 0.3-0.5MPa) and dynamically adjust the clamping force to ensure stable clamping of the grinding pot (dropout rate ≤0.1%). The robotic arm's transfer time is reduced to 5-8 seconds, improving efficiency by 5 times compared to manual handling. The polyurethane gripper pads protect the outer wall of the grinding pot, reducing the scratch rate to zero and extending the equipment's service life. Pressure sensors prevent damage from overpressure or dropout from underpressure, achieving 99.8% equipment operational stability and reducing downtime for adjustments.

[0038] In some embodiments, the material sorting device further includes a reset module mounted on the clamping and flipping module 3. The reset module includes a servo motor 36 and a position encoder. The servo motor 36 is linked with the drive motor 32 to drive the base 34 and the strip screen plate 35 to reset to a position with an angle of 45° to the horizontal position after flipping. The position encoder is electrically connected to the servo motor 36 to detect the reset position of the base 34 and the strip screen plate 35 in real time to ensure reset accuracy. The orientation of the screen bars of the strip screen plate 35 is perpendicular to the rotating shaft of the drive motor 32, and a positioning notch is provided on the outer ring of the strip screen plate 35. The positioning notch is located at one end of the middle screen bar. After the base 34 and the strip screen plate 35 are reset, the grinding pot 7 slides to the positioning notch under the action of gravity to achieve gravity positioning, which is convenient for the robot arm to grasp.

[0039] During operation, the servo motor 36 and drive motor 32 work together to drive the base 34 to rotate in the opposite direction. The position encoder (1000 lines / revolution resolution) provides real-time angle feedback, forming a closed-loop control to ensure a 45° reset. The sieve bars of the strip sieve plate 35 are perpendicular to the rotating shaft to prevent the grinding ring from jamming. The positioning notch uses gravity to guide the grinding pot to a fixed position, providing a precise gripping point for the robotic arm. The reset error is ≤0.5°, improving accuracy by 90% compared to simpler machines without servo control. The 45° reset angle, combined with the positioning notch, achieves a 99.8% success rate for the robotic arm's gripping, avoiding gripping failures due to positioning deviations. Gravity positioning requires no additional power, reducing energy consumption by 15%, while also simplifying the mechanical structure and reducing potential failure points.

[0040] In some embodiments, the base 31 is provided with a circular slide rail 39, and the bidirectional clamping cylinder 33 is provided with a stabilizing connector. The stabilizing connector is slidably mounted on the circular slide rail 39 to ensure the stability of the rotation of the bidirectional clamping cylinder 33.

[0041] During operation, as the bidirectional clamping cylinder 33 rotates, the stabilizing connector slides synchronously along the circular slide rail 39, forming a sliding support. The arc-shaped structure of the slide rail matches the rotation trajectory of the bidirectional clamping cylinder 33, offsetting the radial force generated during the flipping process and preventing overload on the drive motor 32 bearing. During the flipping process, the shaking of the grinding pot 7 is reduced to below 0.5mm, and the premature spillage rate of materials is reduced by 90%. The radial force offset protects the drive motor 32 bearing, extending its service life by 2 times. The sliding support makes the flipping action smoother, reduces the load fluctuation of the drive motor 32 by 30%, and reduces the equipment operating noise by 15dB.

[0042] In some embodiments, the base 31 of the clamping and flipping module 3 is slidably mounted on the frame 1 via a slide rail 37. A linear module 38 is arranged parallel to one side of the slide rail 37. The linear module 38 is connected to the base 31 via a connector, and the base 31 is driven to slide on the slide rail 37 by the linear module 38.

[0043] During operation, the linear module 38 provides horizontal driving force, which drives the base 31 to slide along the slide rail 37 via the connector. The positioning accuracy of the linear module 38 ensures that the base 31 slides precisely, aligning the center line of the grinding pot 7 with the center line of the conical funnel 41, preventing material displacement. It adapts to grinding pots 7 of different diameters, improving equipment compatibility by 60%. No clamping changes are required. Horizontal sliding enables multi-station switching (e.g., with 2-3 receiving cups 42), increasing equipment utilization by 50%. Precise alignment prevents material spillage, further reducing material loss rate to below 0.2%.

[0044] An automatic material discharging and sorting method for a grinding pan includes the following steps: S1: Transfer and positioning: The robotic arm holds the grinding pot 7, and the sensor detects the clamping pressure in real time. After ensuring that the grinding pot is stably clamped, the grinding pot is transferred to the base 34. S2: Clamping and fixing: The linear module 38 drives the base 31 to slide on the slide rail 37, so that the grinding pot 7 is directly above the conical funnel 41. The bidirectional clamping cylinder 33 is activated, driving the base support 34 and the strip sieve plate 35 to clamp the grinding pot 7. S3: Tilting and Discharging: Drive motor 32 drives base 34 to rotate 180° around horizontal axis. The material in grinding pot 7 falls into the conical funnel 41 below under the action of gravity. The grinding ring and grinding kernel are intercepted by strip screen plate 35. Vibrator 44 works and the material falls from conical funnel 41 into receiving cup 42 below for collection. S4: Reset and Recycling: Drive motor 32 rotates in the opposite direction. With the cooperation of servo motor 36 and position encoder, drive base 34 and strip screen plate 35 to reset to a position with an angle of 45° with the horizontal position after flipping. The robot grips the grinding pot 7, and the bidirectional clamping cylinder 33 drives the base 34 and strip screen plate 35 to open. The robot moves the grinding pot 7 to be placed vertically in the grinding pot support basket 6. S5: Cleaning and dust removal: The lifting cylinder 52 drives the rotating dust removal disc 53 to descend to the top of the conical funnel 41. The rotating air nozzle 55 starts and rotates around the vertical axis to spray air. The external nozzle 57 starts to form an annular spray air in the annular spray groove 56 to blow air through the conical funnel 41.

[0045] Automated operation is achieved through "step-by-step control + parameter adaptation": S1-S2 ensure "stable clamping and precise alignment" of the grinding pot through pressure detection and linear module positioning; S3 achieves efficient separation of material from the grinding ring and residue-free discharge through 180° rotation and vibration assistance; S4 provides stable conditions for robotic arm gripping through servo reset and gravity positioning; S5 achieves simultaneous cleaning and pollution prevention through internal and external coordinated blowing. Each step is linked through PLC programming, and parameters can be adjusted according to material characteristics. The entire process requires no manual intervention, with a single sorting time controlled within 30-40 seconds and an hourly sorting volume of 90-120 times. The strong synergy between steps reduces the failure rate to below 0.2%, and the parameter adaptability makes the method applicable to different materials such as powders and granules, covering multiple fields such as precision manufacturing and new material processing.

[0046] In some embodiments, in S3, the vibration frequency of the vibrator 44 is adjusted according to the particle size of the material. When the particle size of the material is ≤0.5mm, the vibration frequency is set to 40-50Hz, and when the particle size of the material is >0.5mm, the vibration frequency is set to 20-30Hz. The purging pressure of the rotating air nozzle 55 and the external nozzle 57 is 0.4-0.6MPa, and the purging time is 10-20s.

[0047] Vibration parameters are optimized based on material particle size: small particles (≤0.5mm) have poor flowability, so high-frequency vibration (40-50Hz) breaks up particle agglomeration and promotes rapid feeding; large particles (>0.5mm) are prone to jamming, so low-frequency vibration (20-30Hz) prevents particles from clogging the funnel. The purging pressure and time are adjusted according to the degree of funnel contamination, with 0.4-0.6MPa ensuring cleaning effectiveness and 10-20s balancing cleaning efficiency and energy consumption. Adapting the vibration frequency improves the feeding efficiency of materials of different particle sizes by more than 40%, with a loss rate of ≤0.3% for small particles and no jamming of large particles; optimized purging parameters reduce cleaning energy consumption by 25% while ensuring 99% funnel cleanliness, avoiding cross-contamination and meeting the stringent requirements for processing high-purity materials.

[0048] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "contain," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0049] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0050] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An automatic material discharging and sorting device for a grinding pan, characterized in that: The automatic material pouring and sorting device for the grinding pot includes a frame (1), a transfer module (2), a clamping and flipping module (3), a receiving module (4), a cleaning and dust removal module (5), and a grinding pot support basket (6). The transfer module (2), the clamping and flipping module (3), the sorting module (4), and the cleaning and dust removal module (5) are installed on the frame (1) to work together to realize the automatic material pouring and sorting of the grinding pot (7). Transfer module (2): used for transferring the grinding pot (7); Clamping and flipping module (3): includes a base (31), a drive motor (32), and a bidirectional clamping cylinder (33) rotatably mounted on the base (31) via the drive motor (32). The two ends of the bidirectional clamping cylinder (33) are respectively equipped with a base support (34) for supporting the grinding pot (7) and a strip sieve plate (35) for pressing the top of the grinding pot (7). The bidirectional clamping cylinder (33) is used to drive the base support (34) and the strip sieve plate (35) to clamp the grinding pot (7). The drive motor (32) is used to drive the base support (34) and the strip sieve plate (35) to drive the grinding pot (7) to flip 180° around the horizontal axis. Material receiving module (4): Located directly below the turning path of the grinding pot (7), it is used to receive the material poured out by the grinding pot (7); Cleaning and dust removal module (5): Located above the receiving module (4), used to clean the receiving module (4); Grinding pot support basket (6): Used to support the grinding pot (7) after the material is poured out.

2. The automatic feeding and sorting device for the grinding pan according to claim 1, characterized in that: The receiving module (4) includes a conical funnel (41) located directly below the turning path of the grinding pot (7) and a receiving cup (42) located below the conical funnel (41). The receiving cup (42) is installed on the frame (1) via a lifting mechanism (43). At least two vibrators (44) are installed on the outer wall of the conical funnel (41).

3. The automatic feeding and sorting device for the grinding pan according to claim 2, characterized in that: The cleaning and dust removal module (5) includes: Dust collector frame (51): Installed on the frame (1), located on one side of the receiving module (4); Lifting cylinder (52): Installed on the dust collector frame (51); Dust removal disc (53): Installed on the telescopic component of the lifting cylinder (52), located directly above the conical funnel (41). The dust removal disc (53) is equipped with an air supply mechanism (54). A rotating air nozzle (55) is installed in the middle of the bottom surface of the dust removal disc (53). An annular spray groove (56) matching the upper part of the conical funnel (41) is provided on the bottom circumference of the dust removal disc (53). External nozzles (57) are evenly installed in the annular spray groove (56). The external nozzles (57) form annular spray air in the annular spray groove (56). The rotating air nozzle (55) and the external nozzle (57) are respectively connected to the air supply mechanism (54).

4. The automatic discharging and sorting device for the grinding pan according to claim 3, characterized in that: The transfer module (2) includes a robotic arm with a low-hardness polyurethane gripper pad on the inner side of the gripper, and a sensor integrated on the robotic arm for real-time detection of the grinding pot clamping status.

5. The automatic feeding and sorting device for the grinding pan according to claim 4, characterized in that: The material sorting device also includes a reset module set on the clamping and flipping module (3). The reset module includes a servo motor (36) and a position encoder. The servo motor (36) is linked with the drive motor (32) to drive the base (34) and the strip screen plate (35) to reset to a position with an angle of 45° with the horizontal position after flipping. The position encoder is electrically connected to the servo motor (36) to detect the reset position of the base (34) and the strip screen plate (35) in real time to ensure the reset accuracy. The orientation of the screen bars of the strip screen plate (35) is perpendicular to the rotating shaft of the drive motor (32), and a positioning notch is provided on the outer ring of the strip screen plate (35). The positioning notch is located at one end of the middle screen bar. After the base (34) and the strip screen plate (35) are reset, the grinding pot (7) slides to the positioning notch under the action of gravity to achieve gravity positioning, which is convenient for the robot to grasp.

6. The automatic feeding and sorting device for grinding pans according to claim 5, characterized in that: The base (31) is provided with a circular slide rail (39), and the bidirectional clamping cylinder (33) is provided with a sturdy connector. The sturdy connector is slidably installed on the circular slide rail (39) to ensure the stability of the bidirectional clamping cylinder (33) rotation.

7. The automatic feeding and sorting device for grinding pans according to claim 6, characterized in that: The base (31) of the clamping and flipping module (3) is slidably mounted on the frame (1) via a slide rail (37). A linear module (38) is arranged parallel to one side of the slide rail (37). The linear module (38) is connected to the base (31) via a connector. The linear module (38) drives the base (31) to slide on the slide rail (37).

8. A method for automatically discharging and sorting grinding pans based on the apparatus described in any one of claims 1-7, characterized in that, Includes the following steps: S1: Transfer and positioning: The robotic arm holds the grinding pot (7), and the sensor detects the clamping pressure in real time. After ensuring that the grinding pot is stably clamped, the grinding pot is transferred to the base (34). S2: Clamping and fixing: The linear module (38) drives the base (31) to slide on the slide rail (37), so that the grinding pot (7) is directly above the conical funnel (41). The bidirectional clamping cylinder (33) is activated, driving the base (34) and the strip sieve plate (35) to clamp the grinding pot (7). S3: Tilting and pouring: The drive motor (32) drives the base (34) to rotate 180° around the horizontal axis. The material in the grinding pot (7) falls into the cone funnel (41) below under the action of gravity. The grinding ring and grinding kernel are intercepted by the strip screen plate (35). The vibrator (44) works, and the material falls from the cone funnel (41) into the receiving cup (42) below for collection. S4: Reset and Recycling: The drive motor (32) rotates in the opposite direction. With the cooperation of the servo motor (36) and the position encoder, the drive base (34) and the strip screen plate (35) are reset to a position with an angle of 45° with the horizontal position after flipping. The robot grips the grinding pot (7), and the bidirectional clamping cylinder (33) drives the base (34) and the strip screen plate (35) to open. The robot moves the grinding pot (7) to be placed vertically in the grinding pot support basket (6). S5: Cleaning and dust removal: The lifting cylinder (52) drives the rotating dust removal disc (53) to descend to the top of the conical funnel (41), the rotating air nozzle (55) starts and rotates around the vertical axis to spray air, and the external nozzle (57) starts to form an annular spray air in the annular spray groove (56) to blow air through the conical funnel (41).

9. The automatic material discharging and sorting method for grinding pans according to claim 8, characterized in that: In S3, the vibration frequency of the vibrator (44) is adjusted according to the particle size of the material. When the particle size of the material is ≤0.5mm, the vibration frequency is set to 40-50Hz. When the particle size of the material is >0.5mm, the vibration frequency is set to 20-30Hz. The purging pressure of the rotating air nozzle (55) and the external nozzle (57) is 0.4-0.6MPa, and the purging time is 10-20s.

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