A device for recovering rare earth permanent magnet material from humanoid robot waste

Abstract

The application discloses a kind of equipment for recovering rare earth permanent magnet material from humanoid robot waste, belong to solid waste resource recycling technical field.The equipment is sequentially connected with ball mill device, sorting device, return device, vibrating screen device, dust removal device, magnetic separation device and airflow sorting device along material processing direction, each device is connected by closed channel or pipeline airtight, form continuous, integrated physical recovery production line.Ball mill device is ground to separate for containing magnetic material, sorting device realizes initial particle size grading, coarse particle is sent back to ball mill device again grinding by return device, fine particle enters vibrating screen device and is finely screened, dust removal device is separated from light impurities in vibrating screen process, magnetic separation device separates neodymium iron boron magnetic particle from mixed particle, airflow sorting device is finally sorted out high-purity rare earth permanent magnet enrichment according to density difference.The application improves the recovery rate and purity of rare earth permanent magnet material, and does not need chemical reagent, green and environmental protection.

Description

Technical Field

[0001] This application relates to the field of solid waste resource recycling technology, and in particular to a device for recovering rare earth permanent magnet materials from humanoid robot waste. Background Technology

[0002] Neodymium iron boron (NdFeB) and other rare-earth permanent magnet materials, due to their excellent magnetic properties, have been widely used in various consumer electronics, communication equipment, and precision electromechanical products. With the rapidly shortening product replacement cycle, the amount of electronic waste generated globally has exploded. Efficiently recovering rare-earth permanent magnet materials from these waste electronic products can not only alleviate the pressure on the supply of primary rare-earth resources, possessing significant economic value, but also greatly reduce the environmental burden caused by waste landfill and incineration, aligning with the development requirements of a green circular economy. Regarding recycling processes, while traditional chemical reagent wet recycling routes can achieve high extraction purity, they inevitably generate large amounts of acidic and alkaline waste liquids and organic solvents, posing inherent drawbacks such as high risk of secondary pollution and high processing costs. Therefore, dry recycling routes based on physical separation and not reliant on chemical reagents are gradually becoming the mainstream process. This physical recycling route typically includes core processes such as crushing and dissociation, ball milling, particle size classification, separation of light impurities, and airflow separation.

[0003] When the focus of recycling is on small, precision components rich in rare-earth permanent magnets, such as finger joints, micro-motors, and sensors of humanoid robots, the material characteristics differ significantly from traditional bulk electronic waste. These components have extremely compact structures, tiny permanent magnets, and are often embedded and encapsulated with materials such as resin, plastic, and non-magnetic metals. The resulting materials after disassembly are complex in form and diverse in composition. In actual production operations, most of the aforementioned physical recycling processes are handled by single-function, independent equipment, with material transfer between devices mainly accomplished through open conveyor belts or manual transfer boxes. This discrete layout leads to long material flow paths, and numerous open interfaces cause the unorganized escape of dust-laden gases, seriously affecting the working environment and the health of operators. At the same time, multiple independent devices require their own independent bases, power and control systems, resulting in large floor space, low connection efficiency, and a high risk of material residue, cross-mixing, and dust leakage during transfer, making it impossible to achieve closed, continuous, and automated integrated operations. Faced with the increasing demand for refined, clean, and compact recycling, the industry has yet to develop a complete, integrated recycling system with a full range of processes, a compact structure, and fully enclosed logistics. Summary of the Invention

[0004] The specific technical solution of this invention is a device for recovering rare earth permanent magnet materials from humanoid robot waste, comprising a ball mill, a sorting device, a return device, a vibrating screen, a dust removal device, a magnetic separator, and an airflow separator connected sequentially along the material processing direction; the discharge port of the ball mill is connected to the inlet of the sorting device through a closed channel; the sorting device has a coarse particle discharge port and a fine particle discharge port, the coarse particle discharge port is connected to the inlet of the return device, and the return device has a channel for sending materials back to the ball mill; the fine particle discharge port is sealed to the inlet of the vibrating screen through a mid-section feeding mechanism; the dust removal device includes a sealed shell accommodating the vibrating screen; the concentrate discharge port of the vibrating screen is connected to the material conveyor belt of the magnetic separator through a discharge pipe, and the collection hopper of the magnetic separator is sealed to the inlet hopper of the airflow separator through a sealed pipe.

[0005] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes a ball mill device comprising an integrated support base and a cylindrical assembly. The upper surface of the integrated support base is provided with a main bearing mounting position and a drive mounting position. The cylindrical assembly includes a cylindrical grinding cylinder, a left end cover, and a right end cover, which are respectively connected to both ends of the cylinder. A stepped journal is integrally formed at the center of both the left and right end covers, and the journal is respectively mounted in a main bearing seat installed at the main bearing mounting position. A feed channel is provided at the center of the journal of the left end cover, and a discharge channel is provided at the center of the journal of the right end cover.

[0006] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes a ball mill device that further comprises a belt drive assembly. The belt drive assembly is fixed to the drive mounting position of the integrated support base and includes a drive motor, a planetary gearbox, and a V-belt connected in sequence. A driven pulley is mounted on the cylinder, and a driving pulley is mounted on the output shaft of the planetary gearbox. The driving pulley and the driven pulley are connected by the V-belt drive.

[0007] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes a sorting device comprising a box base, a belt conveyor mechanism, an inclined vibrating screen assembly, and a sealed feed hood. The belt conveyor mechanism is horizontally fixed to the top of the box base. The inclined vibrating screen assembly is mounted above the belt conveyor mechanism via columns and includes a metal screen frame, a metal screen mounted on the metal screen frame, and an eccentric vibrating motor fixed to the side of the higher end of the metal screen frame. The sealed feed hood is mounted above the inclined vibrating screen assembly, and its top feed inlet is connected to the discharge channel of the ball mill. The lower end of the belt conveyor mechanism has a fine particle discharge port, and the lower end of the metal screen has a coarse particle discharge port.

[0008] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes a return device comprising a support frame, a square storage silo, and a screw conveyor. The square storage silo is fixed to the upper part of the support frame. The top of the square straight cylindrical section at the upper part of the square storage silo is open to receive material from the coarse particle discharge port. Its lower part is an inverted conical hopper made of trapezoidal steel plates, and the bottom of the inverted conical hopper has a discharge port. The screw conveyor is fixed below the discharge port of the inverted conical hopper, and its conveying cylinder end has a flange interface, serving as a channel to send the material back to the ball mill device.

[0009] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes a middle-section feeding mechanism comprising a buffer feeding box and a feeding pipe. The buffer feeding box is located at the discharge end of the belt conveyor mechanism, and the bottom of the buffer feeding box is connected to one end of the feeding pipe. The other end of the feeding pipe is connected to the inlet of the vibrating screen device, forming a material conveying channel that utilizes gravity to flow by gravity.

[0010] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes a vibrating screen device comprising a frame, an inclined screen box, a dual-excitation motor unit, and a collection box. The collection box is fixedly installed below the inclined screen box, and the concentrate outlet of the inclined screen box is connected to the inner cavity of the collection box. An electric valve is installed at the bottom outlet of the collection box. A double-layer non-magnetic polyurethane screen is fixed inside the inclined screen box. The dual-excitation motor unit is installed on the top crossbeam of the inclined screen box.

[0011] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes a dust removal device that also includes a housing, a negative pressure machine, and a bag filter. The housing is installed outside the vibrating screen device, and its lower side wall has an air inlet connected to the negative pressure machine for introducing low-pressure airflow. Its upper part has an air suction port, which is connected to the air inlet of the bag filter through an exhaust pipe.

[0012] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes a magnetic separation device comprising: a gantry-type load-bearing frame; an active roller and a driven roller, respectively rotatably mounted at both ends of the magnetic separation main frame; an annular wear-resistant belt, sleeved on the outside of the active roller and the driven roller, which carries impurities away from the magnetic separation area as the belt rotates; a geared motor, fixedly mounted at one end of the magnetic separation main frame, with its output shaft coaxially and fixedly connected to the active roller; a strong magnetic system, forming an integral structure with the annular wear-resistant belt; a material conveyor frame and multiple sets of trough-shaped idlers, rotatably mounted sequentially on the upper surface of the material conveyor frame along the material conveying direction; a material conveying belt, sleeved on the drive rollers at both ends of the material conveyor frame; and a collection hopper for receiving ferromagnetic impurities that automatically fall off after leaving the magnetic field.

[0013] The aforementioned equipment for recovering rare earth permanent magnet materials from humanoid robot waste includes an airflow sorting device comprising a frame, a sorting bed, a material equalization plate, a fan, and a vibrating motor. The top of the frame is movably connected to the sorting bed via four sets of inclined linkage mechanisms, forming a parallelogram structure. The sorting bed is arranged at an angle, with a top cover plate covering it. A feed hopper is fixed in the center of the top cover plate, and the upper interface of the feed hopper is sealed to the discharge pipe at the bottom of the collection box. The material equalization plate is positioned below the feed hopper. A heavy material discharge chute is located at the lower end of the sorting bed, and a light material discharge chute is located at the higher end. The fan is fixed to the lower part of the frame, and its outlet is sealed to a pressure equalization chamber below the sorting bed via a flexible joint. The top opening of the pressure equalization chamber is connected to the bottom perimeter of the sorting bed. The vibrating motor is fixed to one side of the frame, and its output shaft is connected to the sorting bed via an eccentric shaft and a linkage mechanism.

[0014] The beneficial effects of this invention are: 1. The various units are connected by enclosed channels or pipelines, which reduces dust leakage and cross-contamination of materials, improves the operating environment, and meets the requirements of clean production.

[0015] 2. It integrates ball milling, sorting, return material, vibrating screen, dust removal, magnetic separation and airflow separation functions into one unit. It has a compact structure, small footprint, and eliminates the material transfer links between multiple independent devices, thereby improving the automation level and processing efficiency of the production line.

[0016] 3. A return material device is set up to automatically send the sorted coarse particles back to the ball mill for secondary grinding, realizing a closed-loop circulation, reducing the loss of over-crushed and undissociated materials, and improving the overall recovery rate of rare earth permanent magnet materials.

[0017] 4. The dust removal device adopts a combination of negative pressure suction and bag dust collection, which simultaneously achieves the wind separation of lightweight impurities such as plastics, resins, and fibers during the vibrating screen stage. No chemical reagents are required and no wastewater is discharged.

[0018] 5. The airflow separation device utilizes the combined force field of vibration and rising airflow to separate rare earth permanent magnet concentrates from non-magnetic impurities based on density differences, in order to obtain the final product.

[0019] 6. The entire production line relies on gravity flow and closed conveying based on elevation difference, eliminating the need for additional lifting equipment and resulting in low energy consumption. Key components such as screens and grinding cylinders are made of wear-resistant non-magnetic materials, reducing the interference of magnetic agglomeration and equipment magnetization on the sorting process. Attached Figure Description

[0020] Figure 1 This is a top view of the ball mill, sorting unit, and return material unit; Figure 2 This is a front view of the sorting device and the return device; Figure 3 These are isometric views of the ball mill, sorting, and return equipment. Figure 4 This is a partial view of the equipment, mainly showing the three-dimensional structure of the ball mill device; Figure 5 This is a three-dimensional view of the sorting device; Figure 6 This is a front view of the dust removal device and the magnetic separator; Figure 7 This is a three-dimensional view of the dust removal device; Figure 8 This is a three-dimensional view of the vibrating screen device; Figure 9 These are isometric views of the magnetic separator and the airflow separation device; Figure 10 This is a three-dimensional view of the airflow sorting device.

[0021] Explanation of reference numerals in the attached drawings: 1. Ball mill device; 11. Integrated support base; 12. Cylinder; 13. End cover; 14. Reinforcing rib; 15. Journal; 151. Feed channel; 152. Discharge channel; 16. Planetary gearbox; 17. Driven pulley; 18. Driven pulley; 181. V-belt; 19. Main bearing housing; 191. Lifting ring; 2. Sorting device; 21. Box base; 22. Conveyor roller; 23. Conveyor belt; 24. Column; 25. Metal screen; 26. Eccentric vibrating motor; 3. Return device; 31. Support frame; 32. Square storage silo; 33. Screw conveyor; 34. Conveyor cylinder; 341. Flange interface; 4. Vibrating screen device; 41. Frame; 42. Inclined screen box; 43. Double excitation 44. Motor unit; 45. Collection box; 5. Discharge pipe; 6. Intermediate feeding mechanism; 51. Feeding pipe; 52. Buffer feed box; 6. Dust removal device; 61. Negative pressure machine; 62. Bag dust collector; 63. Shell; 7. Magnetic separator; 71. Gantry-type load-bearing frame; 72. Driven roller; 73. Driven roller; 74. Annular wear-resistant belt; 75. Material conveyor frame; 76. Trough idler; 77. Material conveyor belt; 78. Collection hopper; 89. Airflow sorting device; 81. Frame; 82. Linkage mechanism; 83. Sorting bed; 84. Top cover plate; 85. Feed hopper; 86. Equalizing plate; 861. Heavy material discharge chute; 862. Light material discharge chute; 87. Fan; 88. Equalizing air chamber; 89. Vibrating motor. Detailed Implementation

[0022] In the description of this invention, the terms center, longitudinal, transverse, length, width, thickness, front, back, left, right, upper, lower, axial, radial, vertical, horizontal, inner, and outer, etc., indicating orientation or positional relationships, are based on the accompanying drawings and are used only for simplified description. The terms first and second are used only for distinction and do not indicate relative importance or imply quantity. Features defined as first or second may explicitly or implicitly include one or more of that feature. "Multiple" means two or more, unless otherwise expressly defined.

[0023] This solution provides a device for recovering rare earth permanent magnet materials from humanoid robot waste, referring to... Figure 1 , Figure 2 , Figure 6 and Figure 9 Along the material processing direction, ball mill, sorting device, return material device, vibrating screen, dust removal device, magnetic separation device and airflow separation device are connected in sequence. Each device is connected through a closed channel or pipeline to form a continuous and integrated physical recycling production line.

[0024] Reference Figure 3 and Figure 4The ball mill is used to grind disassembled magnetic materials, causing rare earth permanent magnet particles to separate from the matrix. It consists of an integrated support base 11, a cylindrical assembly, and a belt drive assembly. The integrated support base 11 is welded from multiple high-strength steel sections to form a rigid frame, with triangular ribs welded at the connection points between the longitudinal and transverse beams. The upper surface of the base integrates the main bearing mounting position and the drive mounting position through precision machining, strictly constraining the relative positional tolerances of the two mounting positions to bear the dynamic and static loads of the equipment and absorb impact vibrations, ensuring the long-term coaxiality of the transmission system and making the ball mill an independent module that can be hoisted as a whole. The cylindrical assembly includes a cylindrical grinding cylinder 12, a left end cover 13, and a right end cover 13, which are connected to both ends of the cylinder 12, respectively. Each end cover 13 has an integrally formed stepped journal 15 at its center, with rounded transitions and stress relief grooves machined at the root of the journal 15. The left and right journals 15 are respectively mounted in the main bearing seats 19 at both ends of the integrated support base 11. The main bearing seats 19 are of split cast steel structure and have self-aligning roller bearings inside. The journal 15 of the left end cover 13 has a feed channel 151 in the center, and the journal 15 of the right end cover 13 has a discharge channel 152 in the center. The material enters and exits the cylinder 12 through the closed channels inside the journals 15 and end covers 13 without opening the manhole cover. The belt drive assembly is fixed to the drive mounting position of the integrated support base 11 and includes a drive motor, a planetary gearbox 16, and a V-belt 181 connected in sequence. A driven pulley 18 is mounted on the cylinder 12, and a driving pulley 17 is mounted on the output shaft of the planetary gearbox 16. The driving pulley 17 and the driven pulley 18 are connected by a V-belt 181. After the power is reduced and increased in torque by the planetary gearbox 16, it is smoothly transmitted to the cylinder 12 through the V-belt 181, driving the cylinder 12 to rotate. The V-belt 181 drive can slip in case of momentary material jamming or overload, thus achieving overload protection. The ball mill is a single-chamber structure. During operation, material and steel ball grinding media are added into the cylinder 12. The cylinder 12 rotates, lifting and throwing the steel balls and material, and completing the crushing and disintegration through impact, extrusion and grinding.

[0025] Reference Figure 5The sorting device receives the material from the ball mill and performs initial particle size classification. The sorting device includes a box base 21, a belt conveyor mechanism, an inclined vibrating screen assembly, and a sealed feed hood. The box base 21 is formed by bending and welding thick steel plates, providing a rigid overall support structure, and integrates an electrical control module. The belt conveyor mechanism is horizontally fixed to the top of the box base 21 and consists of a drive conveyor roller, a driven conveyor roller, a conveyor belt, and a drive motor. The drive motor drives the drive conveyor roller, which in turn drives the driven roller through friction, horizontally conveying small particles of material that have passed through the screen to the discharge end. The inclined vibrating screen assembly is mounted above the belt conveyor mechanism via columns 24. The bottom of the columns 24 is rigidly connected to the box base 21, and the top supports a metal screen frame. The metal screen 25 is installed on the metal screen frame at a preset inclination angle, and the screen aperture is replaceable. An eccentric vibrating motor 26 is fixed to the side of the higher end of the metal screen frame, driving the screen frame to vibrate at high frequency and small amplitude, so that the material is evenly dispersed on the screen surface and slides down the inclined surface. Small particles pass through the screen and fall onto the conveyor belt, while large particles slide down the screen surface to the end. A sealed feed hood is installed above the inclined vibrating screen assembly, enclosing the screening area, and its top feed port is connected to the discharge channel 152 of the ball mill. The discharge end of the belt conveyor mechanism has a fine particle discharge port below it, and the lower end of the metal screen 25 has a coarse particle discharge port.

[0026] Reference Figure 3 The return material device receives the coarse particles separated by the sorting device, and quantitatively conveys and temporarily stores them for later re-addition to the ball mill. The return material device includes a support frame 31, a square storage silo 32, and a screw conveyor 33. The support frame 31 is constructed of welded channel steel, with a machined surface at the bottom to fix the screw conveyor 33 and ensure its coaxiality with the discharge port of the storage silo. The square storage silo 32 is fixed to the upper part of the support frame 31. The top of the square straight cylindrical section of the upper part of the square storage silo 32 is open to receive material from the coarse particle discharge port. Its lower part is an inverted conical hopper made of trapezoidal steel plates, with a discharge port at the bottom of the inverted conical hopper. The screw conveyor 33 is fixed below the discharge port of the inverted conical hopper and consists of a drive motor, a reducer, a conveying cylinder 34, an internal spiral blade shaft, and bearing seats at both ends. The end of the conveying cylinder 34 is provided with a flange interface 341, which serves as a channel for sending the material back to the ball mill. Coarse particles enter the storage silo from the top, then pass through the conical hopper into the screw conveyor 33. The rotating screw shaft pushes the material horizontally along the conveying cylinder 34, and it is discharged quantitatively from the flange interface 341. The feed rate is controlled by adjusting the speed of the drive motor.

[0027] Reference Figure 6-8The vibrating screen device is housed within a fully enclosed casing 63 for fine screening and impurity removal of fine particulate materials. The sorting device is positioned at a higher height than the vibrating screen device. Fine particulate materials from the discharge end of the sorting device are conveyed to the vibrating screen device via a closed intermediate feeding mechanism. The intermediate feeding mechanism includes a buffer feed box 52 and a feeding pipe 51. The buffer feed box 52 is located at the discharge end of the belt conveyor mechanism, and its bottom is connected to one end of the feeding pipe 51; the other end of the feeding pipe 51 is connected to the inlet of the vibrating screen device, forming a material conveying channel that utilizes gravity flow based on elevation difference.

[0028] The vibrating screen device includes a frame 41, an inclined screen box 42, a dual-excitation motor unit 43, and a collection box 44. The collection box 44 is fixedly installed below the inclined screen box 42, and the concentrate outlet of the inclined screen box 42 communicates with the inner cavity of the collection box 44. An electric valve is installed at the bottom outlet of the collection box 44. The inclined screen box 42 is a sealed groove made entirely of stainless steel plate, bent and welded. It contains a double-layer non-magnetic polyurethane screen, employing a modular design with apertures customized according to coarse and fine grading requirements, enabling simultaneous primary coarse screening and secondary fine screening. The screen and screen box are fixed with quick-release clips for rapid replacement. The inner wall of the screen box and parts in contact with materials are all made of 304 stainless steel. The dual-excitation motor unit 43 is installed on the top beam of the inclined screen box 42, utilizing a self-synchronizing principle to generate linear excitation force, driving the screen box to perform high-frequency linear vibration, breaking up magnetic particle agglomeration and enhancing screening. Neodymium iron boron magnetic material enters the vibrating screen device through the middle feeding mechanism and flows into the inclined screen box 42. Under high-frequency linear vibration, two-stage screening is completed. Fine particles pass through the screen and fall into the collection box 44, while coarse particles and impurities are discharged along the screen surface.

[0029] Reference Figure 7 The dust removal device is used for the airborne separation and collection of light impurities during the vibrating sieving process. The dust removal device includes a housing 63, a negative pressure unit 61, and a bag filter 62. The housing 63 covers the vibrating sieving device, and its lower side wall has an air inlet connected to the negative pressure unit 61 for introducing low-pressure airflow. Its upper part has an air suction port, which is connected to the air inlet of the bag filter 62 via an exhaust pipe. The airflow passes through the screen and material layer from bottom to top, blowing up and lifting light impurities such as plastics, resins, and fibers. The airflow carrying the impurities enters the bag filter 62 through the air suction port and exhaust pipe, where the impurities are trapped and clean air is discharged. Heavy rare earth permanent magnet particles and metal particles settle in the rising airflow, passing through the screen holes and falling into the bottom plate of the collection box 44. The negative pressure unit 61 provides a stable and adjustable negative pressure for the airflow circuit.

[0030] An electric valve is installed at the discharge port at the bottom of the collection box 44 and connected to the discharge pipe 45. During normal operation, the electric valve is closed, and heavy particles accumulate in the collection box 44. When the set material level is reached, the control system automatically opens the electric valve, and the heavy particles are discharged in a measured amount through the discharge pipe 45. After the discharge is completed and maintained for a predetermined time, the valve closes. This intermittent discharge structure avoids airflow disturbance and ensures a stable airflow field.

[0031] Reference Figure 9 The magnetic separator is located between the vibrating screen and the airflow separator. The magnetic separator includes a gantry-type load-bearing frame 71, a drive drum 72, a driven drum 73, a ring-shaped wear-resistant belt 74, a geared motor, a strong magnetic system, a material conveyor frame 75, multiple sets of trough-type idlers 76, a material conveyor belt 77, and a collection hopper 78. The gantry-type load-bearing frame 71 is rigidly connected to the ground foundation via bottom anchor bolts. The drive drum 72 and driven drum 73 are rotatably mounted at both ends of the gantry-type load-bearing frame 71, and the ring-shaped wear-resistant belt 74 is fitted over the outside of the drive drum 72 and driven drum 73. The geared motor is fixedly mounted at one end of the gantry-type load-bearing frame 71, and its output shaft is coaxially and fixedly connected to the drive drum 72, driving the ring-shaped wear-resistant belt 74 to continuously circulate. The strong magnetic system and the ring-shaped wear-resistant belt 74 form an integrated structure and run synchronously with the belt. A material conveyor frame 75 and multiple sets of trough-shaped idlers 76 are arranged sequentially along the material conveying direction. A material conveyor belt 77 is fitted onto the drive rollers at both ends of the material conveyor frame 75. The discharge pipe 45 at the bottom of the collection box 44 is connected to the material conveyor belt 77. Mixed particles from the collection box 44 are conveyed by the material conveyor belt 77 and pass through the magnetic separation area at a uniform speed. Under the action of a strong magnetic field, NdFeB magnetic particles are attracted and carried away from the magnetic separation area by the annular wear-resistant belt 74. When the belt rotates to the area below the drive roller 72 and leaves the magnetic field, the magnetic particles automatically fall off and fall into the collection hopper 78. Non-magnetic or weakly magnetic materials continue to move forward along the material conveyor belt 77 and are discharged as tailings. The collection hopper 78 is connected to the feed hopper 85 of the airflow separator through a sealed pipe.

[0032] Reference Figure 10The airflow separation device is installed at a lower height than the vibrating screen device, utilizing the height difference to achieve gravity-fed material feeding. The airflow separation device includes a frame 81, a separation bed 83, a material distribution plate 86, a fan 87, and a vibrating motor. The frame 81 is welded from square tubing, and the top of the frame 81 is movably connected to the separation bed 83 via four sets of inclined linkage mechanisms 82. The linkage mechanisms 82 form a parallelogram mechanism to maintain the inclined posture of the bed during vibration. The separation bed 83 is arranged at an angle, and a top cover plate 84 covers it. A feed hopper 85 is fixed in the middle of the top cover plate 84, and the upper interface of the feed hopper 85 is sealed to the discharge pipe 45 at the bottom of the collection box 44. The material distribution plate 86 is located below the feed hopper 85 and has an umbrella-shaped or multi-faceted structure to evenly spread the material across the entire bed surface. A heavy material discharge chute 861 is provided at the lower end of the separation bed 83, and a light material discharge chute 862 is provided at the higher end. A blower 87 is fixed to the lower part of the frame 81. Its air outlet is sealed and connected to the equalizing air chamber 88 below the sorting bed 83 via a flexible joint. The top opening of the equalizing air chamber 88 is connected to the bottom perimeter of the sorting bed 83, allowing the pressurized air to be uniformly penetrated onto the bed surface after being homogenized and statically pressurized within the chamber. A vibrating motor is fixed to one side of the frame 81. Its output shaft is connected to the sorting bed 83 via an eccentric shaft and a connecting rod mechanism 82, driving the bed to perform high-frequency, small-amplitude linear vibration along the inclined direction. The enriched material from the magnetic separator enters from the feed hopper 85, is spread onto the porous bed surface by the equalizing plate 86, and the rising airflow penetrates the bed surface and the material layer. Under the combined action of vibration and airflow, the material layer is fluidized and stratified according to density and particle size. The denser, heavier particles move downwards and are discharged from the heavy material discharge chute 861, resulting in rare earth permanent magnet enriched material. The less dense, lighter particles are lifted upwards by the airflow and are discharged from the light material discharge chute 862.

[0033] The process is as follows: Magnetically dismantled materials, such as the finger joints and micro-motors of a humanoid robot, are fed into the ball mill cylinder 12 through a closed feeding channel 151. The drive motor, with reduced speed and increased torque, rotates the cylinder 12, lifting the steel balls and materials. Through impact, compression, and grinding, the rare earth permanent magnet particles are separated from the matrix, forming a mixture of coarse and fine materials, which is discharged through the closed discharge channel 152. The ball mill output enters the sealed feeding hood of the sorting device, where it is evenly dispersed under the drive of an eccentric vibrating motor 26. Fine particles pass through a metal screen 25 and are conveyed by a belt conveyor into a buffer feeding box 52, then gravity-fed through a feeding pipe 51 to a vibrating screen device. Coarse particles are intercepted by the screen and fall into a square storage bin 32 of the return material device for temporary storage. The return material device performs closed-loop recycling of coarse particles. After settling in the storage bin, the material is quantitatively discharged by a screw conveyor 33, with the feeding rate controlled by adjusting the motor speed. After accumulating a certain amount, the coarse particles are fed back into the ball mill to mix with new material for secondary grinding. Fine particles enter the vibrating screen device and fall onto the double-layer polyurethane screen. The dual-excitation motor unit 43 drives the inclined screen box 42 to vibrate at high frequency, breaking up magnetic agglomerates. The material is precisely classified through the double-layer screen, removing large particles of impurities, while fine particles pass through the screen and fall into the collection box 44. The dust removal device operates simultaneously, with low-pressure rising airflow carrying lightweight impurities into the bag filter 62 for interception, and clean air is discharged. After impurity removal, the heavy mixed particles are fed into the material conveyor belt 77 of the magnetic separator through the intermittent discharge mechanism of the collection box 44. Under the action of a strong magnetic field, neodymium iron boron magnetic particles are adsorbed and separated and fall into the collection hopper 78. Subsequently, they are sent to the airflow separation device through a closed pipeline. The material is evenly spread on the air-permeable bed surface through the feed hopper 85 and the uniform material plate 86. Under the combined action of the rising uniform airflow and the high-frequency vibration of the bed, it is fluidized and stratified. High-density rare earth permanent magnet particles are discharged from the heavy material discharge chute 861, obtaining high-purity recycled products. Low-density non-magnetic metals and residual impurities are discharged from the light material discharge chute 862. Finally, the fully enclosed and continuous physical recycling of rare earth permanent magnet materials from waste precision parts is completed.

Claims

1. A device for recovering rare earth permanent magnet materials from humanoid robot waste, characterized in that, The device includes a ball mill (1), a sorting device (2), a return material device (3), a vibrating screen (4), a dust removal device (6), a magnetic separator (7), and an airflow separator (8) connected sequentially along the material processing direction. The discharge port of the ball mill (1) is connected to the inlet of the sorting device (2) through a closed channel; The sorting device (2) has a coarse particle outlet and a fine particle outlet. The coarse particle outlet is connected to the feed inlet of the return device (3). The return device (3) has a channel to send the material back to the ball mill (1). The fine particle outlet is sealed to the inlet of the vibrating screen device (4) through the mid-section feeding mechanism (5); The dust removal device (6) includes a sealed housing (63) that houses the vibrating screen device (4); the concentrate outlet of the vibrating screen device (4) is connected to the material conveying belt (77) of the magnetic separator (7) through the discharge pipe (45); and the collection hopper (78) of the magnetic separator (7) is connected to the feed hopper (85) of the airflow separator (8) through a sealed pipe.

2. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 1, characterized in that, The ball milling device (1) includes an integrated support base (11) and a cylinder assembly; The upper surface of the integrated support base (11) is provided with a main bearing mounting position and a drive mounting position; The cylindrical assembly includes a cylindrical grinding cylinder (12), a left end cap (13) and a right end cap (13), the left end cap (13) and the right end cap (13) being connected to both ends of the cylinder (12) respectively; The center of both the left end cover (13) and the right end cover (13) is integrally formed with a stepped journal (15), and the journal (15) is respectively mounted in the main bearing seat (19) installed in the main bearing mounting position; The left end cover (13) has a feed channel (151) at the center of the journal (15); The right end cover (13) has a discharge channel (152) at the center of the journal (15).

3. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 2, characterized in that, The ball mill device (1) also includes a belt drive assembly, which is fixed to the drive mounting position of the integrated support base (11) and includes a drive motor, a planetary gearbox (16) and a V-belt (181) connected in sequence. A driven pulley (18) is installed on the cylinder (12), and a driving pulley (17) is installed on the output shaft of the planetary gearbox (16). The driving pulley (17) and the driven pulley (18) are connected by a V-belt (181).

4. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 1, characterized in that, The sorting device (2) includes a box base (21), a belt conveyor mechanism, an inclined vibrating screen assembly, and a sealed feed hood; The belt conveyor mechanism is horizontally fixed to the top of the box base (21); The inclined vibrating screening assembly is mounted on the belt conveyor mechanism via a column (24), and includes a metal screen frame, a metal screen (25) mounted on the metal screen frame, and an eccentric vibrating motor (26) fixed to the side of the higher end of the metal screen frame. The sealed feed hood is installed above the inclined vibrating screen assembly, and its top feed port is connected to the discharge channel (152) of the ball mill device (1). The lower end of the belt conveyor is the fine particle outlet, and the lower end of the metal screen (25) is the coarse particle outlet.

5. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 4, characterized in that, The return material device (3) includes a support frame (31), a square storage bin (32), and a screw conveyor (33); The square storage bin (32) is fixed to the upper part of the support frame (31). The top of the square straight cylindrical section of the upper part of the square storage bin (32) is open to receive the material from the coarse particle outlet. Its lower part is an inverted cone-shaped hopper made of trapezoidal steel plates. The bottom of the inverted cone-shaped hopper is provided with an outlet. The screw conveyor (33) is fixed below the discharge port of the inverted conical bucket, and its conveying cylinder (34) has a flange interface (341) at the end, which is used to send the material back to the ball mill (1) or the temporary storage box.

6. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 4, characterized in that, The intermediate feeding mechanism (5) includes a buffer feed box (52) and a feeding pipe (51); The buffer feed box (52) is located at the discharge end of the belt conveyor mechanism, and the bottom of the buffer feed box (52) is connected to one end of the feeding pipe (51). The other end of the feeding pipe (51) is connected to the inlet of the vibrating screen device (4) to form a material conveying channel that utilizes gravity to flow by gravity.

7. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 1, characterized in that, The vibrating screen device (4) includes a frame (41), an inclined screen box (42), a dual-excitation motor group (43), and a collection box (44); The collection box (44) is fixedly installed below the inclined screen box (42), and the concentrate outlet of the inclined screen box (42) is connected to the inner cavity of the collection box (44); An electric valve is installed at the bottom outlet of the collection box (44); The inclined screen box (42) is internally fixed with a double-layer non-magnetic polyurethane screen. The dual-excitation motor unit (43) is installed on the top crossbeam of the inclined screen box (42).

8. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 1, characterized in that, The dust removal device (6) also includes a housing (63), a negative pressure unit (61), and a bag filter (62); The housing (63) is covered outside the vibrating screen device (4). The lower side wall of the housing is provided with an air inlet connected to the negative pressure machine (61) for introducing low-pressure airflow. The upper part of the housing is provided with an air suction port, which is connected to the air inlet of the bag filter (62) through an exhaust pipe.

9. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 1, characterized in that, The magnetic separation device (7) includes: Gantry-type load-bearing frame (71); The driving drum (72) and the driven drum (73) are respectively rotatably mounted at both ends of the magnetic separator frame (41); An annular wear-resistant belt (74) is fitted on the outside of the drive drum (72) and the driven drum (73), and carries impurities away from the magnetic separation area as the belt rotates; The geared motor is fixedly installed at one end of the magnetic separator frame (41), and its output shaft is coaxially and fixedly connected to the drive drum (72); A strong magnetic system is integrated with the annular wear-resistant belt (74) to form an integral structure; The material conveyor frame (75) and multiple sets of trough rollers (76) are sequentially rotated and installed on the upper surface of the material conveyor frame (75) along the material conveying direction; The material conveyor belt (77) is fitted onto the drive rollers at both ends of the material conveyor frame (75); The collection hopper (78) is used to collect ferromagnetic impurities that automatically fall off after leaving the magnetic field.

10. The equipment for recovering rare earth permanent magnet materials from humanoid robot waste according to claim 1, characterized in that, The airflow sorting device (8) includes a frame (81), a sorting bed (83), a material equalization plate (86), a fan (87), and a vibrating motor; The top of the frame (81) is movably connected to the sorting bed (83) through four sets of inclined linkage mechanisms (82), and the linkage mechanisms (82) form a parallelogram mechanism; The sorting bed (83) is arranged at an angle and covered with a top cover plate (84). The feed hopper (85) is fixed in the middle of the top cover plate (84). The upper interface of the feed hopper (85) is sealed to the discharge pipe (45) at the bottom of the collection box (44). The material distribution plate (86) is disposed below the feed hopper (85); The lower end of the sorting bed (83) is provided with a heavy material discharge chute (861), and the higher end is provided with a light material discharge chute (862). The fan (87) is fixed to the lower part of the frame (81), and its air outlet is sealed and connected to the pressure equalization chamber (88) below the sorting bed (83) through a flexible joint. The top opening of the pressure equalization chamber (88) is connected to the bottom perimeter of the sorting bed (83). The vibration motor is fixed to one side of the frame (81), and its output shaft is connected to the sorting bed (83) through an eccentric shaft and a linkage mechanism (82).

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