Automatic iron removal system for ore

Abstract

The utility model provides an automatic iron removal system for ores. The automatic iron removal system comprises a conveying belt, the metal detector is arranged on the conveying belt and is used for detecting metal impurities in the ore so as to generate a detection signal; the sorting device comprises a first truss and a sorting manipulator arranged on the first truss, and the first truss is located behind the metal detector in the conveying direction of the conveying belt; the material stirring device comprises a second truss and a material stirring manipulator arranged on the second truss, and the second truss is located behind the first truss; the positioning device is used for collecting position signals of the metal impurities on the conveying belt; and the control device is electrically connected with the positioning device, the metal detector, the sorting mechanical arm and the material stirring mechanical arm so as to respond to the received detection signals and position signals and control the sorting mechanical arm and the material stirring mechanical arm to sort the metal impurities. According to the ore impurity sorting device, metal impurities in ore can be accurately sorted, and the sorting efficiency and the sorting precision are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mining machinery, in particular to an automatic iron removal system for ore. Background Art

[0002] At present, in the field of ore mining, the mined ore is often mixed with impurities, such as anchor rods, wire mesh and other metal impurities. These impurities will enter the crusher with the ore, affecting the quality of the ore and causing damage to the subsequent ore processing equipment. In addition, in the process of transporting the ore through conveyor belt equipment, these impurities are usually sorted by manual sorting, which not only increases the labor cost, but also causes varying degrees of damage to the hands of the sorting personnel. When encountering heavier metal impurities, it may even take a long time to stop the machine to process the metal impurities, resulting in a huge waste of time and reducing the efficiency of ore mining.

[0003] In addition, there is an intelligent iron removal system in the prior art that can realize automatic grabbing and sorting of metal impurities. Specifically, the system mainly detects metal objects on the conveyor belt through a metal detector, sends an iron signal to the controller, and then removes the metal objects through an iron removal mechanism. This system, because it only detects metal objects through a metal detector, has limited detection accuracy and lacks effective detection means for metal objects in thicker material layers on the conveyor belt. Therefore, it is very likely that metal objects will be missed in detection, which is still not conducive to removing metal impurities in the ore. Utility Model Content

[0004] In view of the above problems, an embodiment of the utility model provides an automatic iron removal system for ore to solve at least one of the above problems.

[0005] The utility model provides an automatic iron removal system for ore, comprising:

[0006] Conveyor belts, used to transport ore;

[0007] A metal detector, arranged on the conveyor belt, for detecting metal impurities in the ore to generate a detection signal;

[0008] A sorting device, comprising a first truss and a sorting robot arranged on the first truss, wherein the first truss is located behind the metal detector along the conveying direction of the conveyor belt;

[0009] A material shifting device, comprising a second truss and a material shifting manipulator arranged on the second truss, wherein the second truss is located behind the first truss;

[0010] A positioning device, used for collecting position signals of the metal impurities on the conveyor belt;

[0011] The control device is electrically connected to the positioning device, the metal detector, the sorting robot and the material-diverting robot respectively, so as to control the sorting robot and the material-diverting robot to sort the metal impurities in response to the received detection signal and the position signal.

[0012] In some embodiments, the first truss comprises:

[0013] The first base is provided with a first slideway;

[0014] A first frame, the bottom of which cooperates with the first slideway;

[0015] A first horizontal guide rail, disposed on the top of the first frame;

[0016] a first vertical guide rail, cooperating with the first horizontal guide rail;

[0017] The first sliding seat cooperates with the first vertical guide rail and is used to fix the sorting robot so that it can move along the extension direction of the first slideway, the first horizontal guide rail and the first vertical guide rail.

[0018] In some embodiments, the sorting robot comprises:

[0019] A fixed seat, arranged on the first sliding seat;

[0020] A driving member, arranged on the top of the fixing seat;

[0021] A transmission assembly, located below the fixing seat, with an input end passing through the fixing seat and connected to the driving member;

[0022] A gripping assembly, comprising a first claw and a second claw symmetrically arranged on both sides of the transmission assembly, wherein the top of the first claw and the top of the second claw are respectively pivotally connected to the bottom of the fixing seat;

[0023] The outgoing end of the transmission assembly is pivotally connected to the middle of the first claw and the middle of the second claw respectively. Under the driving action of the driving member, the transmission assembly is used to drive the bottom end of the first claw to approach or move away from the bottom end of the second claw to achieve the switching of the grasping assembly between the open state and the grasping state.

[0024] In some embodiments, the fixing seat is provided with a guide hole, and the transmission assembly includes:

[0025] A guide rod, matched with the guide hole, and a head end of which is connected to the driving member;

[0026] A connecting plate connected to the rear end of the guide rod;

[0027] A transmission rod has one end pivotally connected to the connection plate, and the other end pivotally connected to the middle of the first claw and the middle of the second claw.

[0028] In some embodiments, the second truss comprises:

[0029] The second base is provided with a second slideway;

[0030] A second frame, the bottom of which cooperates with the second slideway;

[0031] A second horizontal guide rail is disposed on the top of the second frame;

[0032] a second vertical guide rail, cooperating with the second horizontal guide rail;

[0033] The second sliding seat cooperates with the second vertical guide rail and is used to fix the material-shifting robot so that it can move along the extension direction of the second slideway, the second horizontal guide rail and the second vertical guide rail.

[0034] In some embodiments, the material-shifting robot is a material-shifting plate, and the material-shifting plate is disposed at the bottom of the second sliding seat.

[0035] In some embodiments, the control device is configured to:

[0036] In response to the detection signal sent by the metal detector, the positioning device is controlled to be turned on or off.

[0037] In some embodiments, the positioning device includes a first positioner respectively disposed between the metal detector and the first truss, a second positioner disposed between the first truss and the second truss, and a third positioner disposed behind the second truss.

[0038] In some embodiments, the automatic iron removal system further comprises an alarm device electrically connected to the control device;

[0039] The control device is also configured to:

[0040] In response to the received position signal generated by the third locator, the alarm device is controlled to send out an alarm signal.

[0041] In some embodiments, the sorting device further includes a first collecting box, and the material-diverting device further includes a second collecting box, and the first collecting box and the second collecting box correspond to the sorting robot and the material-diverting robot, respectively, for collecting the metal impurities;

[0042] The automatic iron removal system also includes a protective net arranged on the periphery of the conveyor belt.

[0043] Due to the adoption of the above technical solution, the technical effects achieved by the utility model are as follows:

[0044] The ore sorting manipulator provided by the utility model includes a conveyor belt, a metal detector, a sorting device, a material-dispensing device, a positioning device and a control device. Among them, the metal detector is set to detect the metal impurities in the ore on the conveyor belt, and this detection can determine the general position of the metal impurities in the conveyor belt or the ore; then, the position signal collected by the positioning device is used to further determine the precise position of the metal impurities on the conveyor belt; at this time, the control device can control the movement of the sorting manipulator and the material-dispensing manipulator according to the detection signal and the position signal, so as to realize the accurate sorting of the metal impurities, and the sorting efficiency and sorting accuracy are greatly improved, so as to remove the metal impurities in the ore to the greatest extent, which is conducive to the stable operation of the subsequent ore processing equipment.

[0045] The above description is only an overview of the technical solution of the embodiment of the utility model. In order to more clearly understand the technical means of the embodiment of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are only used to illustrate the embodiments and are not considered to be limitations of the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0047] Figure 1 This is a structural schematic diagram of an automatic iron removal system for ore provided by the utility model;

[0048] Figure 2 It is a structural schematic diagram of another automatic iron removal system for ore provided by the utility model;

[0049] Figure 3 This is a structural schematic diagram of another automatic iron removal system for ore provided by the utility model;

[0050] Figure 4 This is a structural schematic diagram of a sorting manipulator provided by the utility model;

[0051] Figure 5 It is a structural schematic diagram of another automatic iron removal system for ore provided by the utility model.

[0052] In the figure:

[0053] 100 conveyor belts;

[0054] 200 metal detectors;

[0055] 300 sorting device, 310 first truss, 311 first base, 312 first frame, 313 first horizontal guide rail, 314 first vertical guide rail, 315 first sliding seat, 320 sorting manipulator, 321 fixed seat, 322 driving member, 323 transmission assembly, 324 grabbing assembly, 325 first claw, 326 second claw, 327 guide rod, 328 connecting plate, 329 transmission rod, 330 first collection box;

[0056] 400 material shifting device, 410 second truss, 411 second base, 412 second frame, 413 second horizontal guide rail, 414 second vertical guide rail, 415 second sliding seat, 420 material shifting manipulator, 430 second collection box;

[0057] 500 protection net. DETAILED DESCRIPTION

[0058] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein.

[0059] Reference Figure 1 As shown, the embodiment of the utility model provides an automatic iron removal system for ore, including a conveyor belt 100, a metal detector 200, a sorting device 300, a material-dispensing device 400, a positioning device (not shown in the figure) and a control device (not shown in the figure). Among them, the conveyor belt 100 is used to convey ore; the metal detector 200 is arranged on the conveyor belt 100, and is used to detect metal impurities in the ore to generate a detection signal; the sorting device 300 includes a first truss 310 and a sorting manipulator 320 arranged on the first truss 310, and along the conveying direction of the conveyor belt 100, the first truss 310 is located behind the metal detector 200; the material-dispensing device 400 includes a second truss 410 and a material-dispensing manipulator 420 arranged on the second truss 410, and the second truss 410 is located behind the first truss 310; the positioning device is used to collect the position signal of the metal impurities on the conveyor belt 100.

[0060] In addition, the control device is electrically connected to the positioning device, the metal detector 200, the sorting robot 320 and the material transfer robot 420 respectively, so as to control the sorting robot 320 and the material transfer robot 420 to sort the metal impurities in response to the received detection signal and position signal.

[0061] It should be noted that the metal detector 200 can be a flat-type metal detector 200 or a frame-type metal detector 200, and the present application does not limit the type of the metal detector 200. Since the metal detector 200 mainly detects metal impurities in the ore, and the metal detector 200 is arranged upstream of the conveyor belt 100, especially in front of the sorting device 300 and the material-dispensing device 400, the control device can preliminarily determine the approximate position of the metal impurities in the ore or the conveyor belt 100 according to the detection signal generated by it, and then provide a movement basis for the sorting device 300 and the material-dispensing device 400 behind the conveyor belt 100.

[0062] In addition, the positioning device can collect position signals of metal impurities on the conveyor belt 100, wherein the positioning device can be an image acquisition device such as a camera, and further determine the coordinates of the metal impurities according to the relative position of the metal impurities in the image; or the positioning device can be a scanning device such as a lidar, an infrared sensor, etc., and determine the coordinates of the metal impurities according to the scanned point information. The present application does not limit the type of positioning device, the method of generating the position signal, etc.

[0063] Furthermore, preferably, in order to further improve the detection accuracy of the positioning device, the positioning device in the present application can be set to be multiple, so as to respectively detect metal impurities at different positions on the conveyor belt 100. For example, the positioning device includes two positioners, one of which is arranged between the sorting device 300 and the metal detector 200, and the other positioner is arranged between the sorting device 300 and the material shifting device 400, so as to respectively perform more accurate position detection of metal impurities in different areas of the conveyor belt 100.

[0064] In addition, the sorting device 300 in the present application mainly grabs the metal impurities through the sorting robot 320. Due to the claw structure adopted by the sorting robot 320, it cannot grab some extremely large or extremely small metal impurities well, or when there are too many metal impurities in the ore, the sorting robot 320 cannot grab all the metal impurities in time. At this time, the control device can control the sorting robot 320 not to process such impurities, and peel them out through the material-dividing robot 420 set behind the sorting device 300.

[0065] The ore sorting robot 320 provided by the utility model detects metal impurities in the ore on the conveyor belt 100 through the setting of the metal detector 200. This detection can determine the approximate position of the metal impurities in the conveyor belt 100 or the ore; then, the precise position of the metal impurities on the conveyor belt 100 is further determined through the position signal collected by the positioning device; at this time, the control device can control the movement of the sorting robot 320 and the material-discharging robot 420 according to the detection signal and the position signal, so as to realize the accurate sorting of the metal impurities, and the sorting efficiency and sorting accuracy can be greatly improved; and the way in which the sorting robot 320 and the material-discharging robot 420 cooperate to sort the metal impurities can remove the metal impurities in the ore to the greatest extent, avoid the occurrence of missed sorting, and facilitate the stable operation of the subsequent ore processing equipment.

[0066] In some embodiments, the first truss 310 includes a first base 311, a first frame 312, a first horizontal guide rail 313, a first vertical guide rail 314 and a first sliding seat 315. The first base 311 is provided with a first slideway (not shown in the figure), the bottom of the first frame 312 cooperates with the first slideway, the first horizontal guide rail 313 is arranged on the top of the first frame 312, the first vertical guide rail 314 cooperates with the first horizontal guide rail 313, and the first sliding seat 315 cooperates with the first vertical guide rail 314 and is used to fix the sorting robot 320 so that it can move along the extension direction of the first slideway, the first horizontal guide rail 313 and the first vertical guide rail 314.

[0067] The structure of the first truss 310 enables the sorting robot 320 to move in the horizontal direction and the vertical direction respectively, so that the sorting robot 320 has multiple degrees of freedom to achieve flexible grasping and sorting of metal impurities.

[0068] In some embodiments, the sorting robot 320 includes a fixed seat 321, a driving member 322, a transmission assembly 323 and a grabbing assembly 324. The fixed seat 321 is arranged on the first sliding seat 315, the driving member 322 is arranged on the top of the fixed seat 321, the transmission assembly 323 is located below the fixed seat 321, and its input end passes through the fixed seat 321 and is connected to the driving member 322; the grabbing assembly 324 includes a first claw 325 and a second claw 326 symmetrically arranged on both sides of the transmission assembly 323, and the top of the first claw 325 and the top of the second claw 326 are respectively pivotally connected to the bottom of the fixed seat 321. In addition, the outgoing end of the transmission component 323 is pivotally connected to the middle of the first claw 325 and the middle of the second claw 326 respectively. Under the driving action of the driving member 322, the transmission component 323 is used to drive the bottom end of the first claw 325 to approach or move away from the bottom end of the second claw 326, so as to realize the switching of the grasping component 324 between the open state and the grasping state.

[0069] It should be noted that the driving member 322 in the present application can be a driving motor, or a driving member such as a hydraulic cylinder or a pneumatic cylinder, and the present application does not limit the specific type of the driving member 322. The transmission assembly 323 is mainly used to transmit the driving force generated by the driving member 322 to the grabbing assembly 324, and the transmission assembly 323 can have a variety of transmission modes, such as gear-rack transmission, sprocket-chain transmission, guide rail-slider transmission, piston rod transmission, multi-link transmission, etc. Those skilled in the art can reasonably select the best transmission structure according to the design requirements of the product, and the present application does not limit the transmission mode and specific structure of the transmission assembly 323.

[0070] In addition, the middle part of the first claw 325 and the middle part of the second claw 326 in the grabbing assembly 324 of the present application are pivotally connected to the transmission assembly 323, and the top end of the first claw 325 and the top end of the second claw 326 are pivotally connected to the bottom of the fixed seat 321. This arrangement enables the first claw 325 and the second claw 326 to form a hinged structure, which is beneficial to the implementation of the grabbing action of the grabbing assembly 324.

[0071] In some embodiments, the fixing seat 321 is provided with a guide hole (not marked in the figure), and the transmission assembly 323 includes a guide rod 327, a connecting plate 328 and a transmission rod 329. The guide rod 327 is matched with the guide hole, and its head end is connected to the driving member 322, the connecting plate 328 is connected to the tail end of the guide rod 327, and one end of the transmission rod 329 is pivotally connected to the connecting plate 328, and the other end is pivotally connected to the middle of the first claw 325 and the middle of the second claw 326.

[0072] It should be noted that the "pivot connection" described in the present application can be achieved by the cooperation of a rotating shaft and a rotating hole, or by the cooperation of a pin and a pin hole, or by a universal ball joint. The present application does not limit the specific structure of the pivot connection.

[0073] In addition, in the present application, the guide rods 327 are provided in multiple numbers, so that the connection plate 328 has better stability during the up and down movement, and the connection plate 328 is prevented from tilting due to insufficient strength as much as possible. Based on this, preferably, the number of guide rods 327 is configured to be three, and the three guide rods 327 are respectively connected to the two sides and the middle position of the connection plate 328.

[0074] In some embodiments, the second truss 410 includes a second base 411, a second frame 412, a second horizontal guide rail 413, a second vertical guide rail 414, and a second sliding seat 415. The second base 411 is provided with a second slideway (not shown in the figure), the bottom of the second frame 412 cooperates with the second slideway, the second horizontal guide rail 413 is arranged on the top of the second frame 412, the second vertical guide rail 414 cooperates with the second horizontal guide rail 413, and the second sliding seat 415 cooperates with the second vertical guide rail 414, and is used to fix the material-dispensing manipulator 420 so that it can move along the extension direction of the second slideway, the second horizontal guide rail 413, and the second vertical guide rail 414. The second base 411 can be the same base as the first base 311, and the second slideway can be the same slideway as the first slideway; or the first base 311 and the second base 411 are different bases, and the present application does not limit the structure of the first base 311 and the second base 411.

[0075] The structure of the second truss 410 enables the material-dividing robot 420 to move in the horizontal direction and the vertical direction respectively, so that the material-dividing robot 420 has multiple degrees of freedom to achieve flexible distribution of metal impurities.

[0076] In some embodiments, the material-diverting robot 420 is a material-diverting plate, and the material-diverting plate is disposed at the bottom of the second sliding seat 415 .

[0077] It can be understood that although the present application does not limit the specific structure of the material stripping plate, in order to improve its material stripping effect, the material stripping plate may include a substrate and baffles arranged on both sides of the substrate, and the substrate and the baffles are combined to form a material stripping groove with an opening to prevent metal impurities from slipping out from both sides of the material stripping plate.

[0078] In some embodiments, the control device is configured to: control the opening or closing of the positioning device in response to the detection signal sent by the metal detector 200. For example, when the control device receives the detection signal, it indicates that there are metal impurities in the ore, and the positioning device is controlled to be turned on to further determine the precise position of the metal impurities on the ore or the conveyor belt 100; when the control device does not receive the detection signal, or the received detection signal is a null signal, it indicates that there are no metal impurities in the ore, and the positioning device is controlled to be closed to further save the energy consumption of the system.

[0079] In a specific example, the positioning device may include a first positioner (not shown in the figure) respectively disposed between the metal detector 200 and the first truss 310, a second positioner (not shown in the figure) disposed between the first truss 310 and the second truss 410, and a third positioner (not shown in the figure) disposed behind the second truss 410. In addition, the automatic iron removal system may further include an alarm device (not shown in the figure) electrically connected to the control device, and the control device is further configured to: in response to the received position signal generated by the third positioner, control the alarm device to send an alarm signal.

[0080] Among them, the setting of multiple locators enables the locator located at the rear to supplement the detection of the locator in front of it. This multiple detection method can avoid missed detection of metal impurities; the alarm device sends an alarm signal to remind the user to take corresponding measures to deal with the unsorted metal impurities on the conveyor belt 100, so as to prevent the metal impurities from entering the subsequent processing equipment as much as possible.

[0081] For example, when there are 10 metal impurities in the ore, the first locator can generate position signals corresponding to 7 metal impurities, and the control device can control the sorting robot 320 to grab the 7 metal impurities respectively, and the remaining 2 metal impurities can be detected by the second locator; after further detection, the second locator only detects 1 metal impurity and generates a position signal corresponding to 1 impurity. At this time, the control device controls the material-stripping robot 420 to peel off the 1 metal impurity; finally, after the third locator detects the last remaining metal impurity, the control device can control the alarm device to send an alarm signal according to the received position signal, so as to remind the user in time, so that the user can further remove the unsorted metal impurities in the ore through manual sorting or shutdown screening.

[0082] In some embodiments, the sorting device 300 may further include a first collecting box 330, and the material diverting device 400 may further include a second collecting box 430. The first collecting box 330 and the second collecting box 430 correspond to the sorting robot 320 and the material diverting robot 420, respectively, and are used to collect metal impurities; the automatic iron removal system also includes a protective net 500 arranged on the periphery of the conveyor belt 100. The setting of the protective net 500 can delineate the safe working area of ​​the automatic iron removal system, thereby ensuring that the automatic iron removal system is not affected by the outside world and is conducive to its stable operation.

[0083] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various aspects of the present invention, in the above description of the exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Among them, the claims that follow the specific embodiments are hereby expressly incorporated into the specific embodiments, wherein each claim itself serves as a separate embodiment of the present invention.

[0084] It should be noted that the above embodiments illustrate the utility model rather than limit the utility model, and those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation on the claims. The word "comprising" does not exclude the existence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the existence of multiple such elements. The utility model can be implemented by means of hardware including several different elements and by means of appropriately programmed computers. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names. The steps in the above embodiments should not be understood as limitations on the order of execution unless otherwise specified.

Claims

1. An automatic iron removal system for ore, characterized in that: include: Conveyor belts, used to transport ore; A metal detector, arranged on the conveyor belt, for detecting metal impurities in the ore to generate a detection signal; A sorting device, comprising a first truss and a sorting robot arranged on the first truss, wherein the first truss is located behind the metal detector along the conveying direction of the conveyor belt; A material shifting device, comprising a second truss and a material shifting manipulator arranged on the second truss, wherein the second truss is located behind the first truss; A positioning device, used for collecting position signals of the metal impurities on the conveyor belt; The control device is electrically connected to the positioning device, the metal detector, the sorting robot and the material-diverting robot respectively, so as to control the sorting robot and the material-diverting robot to sort the metal impurities in response to the received detection signal and the position signal.

2. The automatic iron removal system for ore according to claim 1, characterized in that: The first truss comprises: The first base is provided with a first slideway; A first frame, the bottom of which cooperates with the first slideway; A first horizontal guide rail, disposed on the top of the first frame; a first vertical guide rail, cooperating with the first horizontal guide rail; The first sliding seat cooperates with the first vertical guide rail and is used to fix the sorting robot so that it can move along the extension direction of the first slideway, the first horizontal guide rail and the first vertical guide rail.

3. The automatic iron removal system for ore according to claim 2, characterized in that: The sorting robot comprises: A fixed seat, arranged on the first sliding seat; A driving member, arranged on the top of the fixing seat; A transmission assembly, located below the fixing seat, with an input end passing through the fixing seat and connected to the driving member; A gripping assembly, comprising a first claw and a second claw symmetrically arranged on both sides of the transmission assembly, wherein the top of the first claw and the top of the second claw are respectively pivotally connected to the bottom of the fixing seat; The outgoing end of the transmission assembly is pivotally connected to the middle of the first claw and the middle of the second claw respectively. Under the driving action of the driving member, the transmission assembly is used to drive the bottom end of the first claw to approach or move away from the bottom end of the second claw to achieve the switching of the grasping assembly between the open state and the grasping state.

4. The automatic iron removal system for ore according to claim 3, characterized in that: The fixing seat is provided with a guide hole, and the transmission assembly comprises: A guide rod, matched with the guide hole, and a head end of which is connected to the driving member; A connecting plate connected to the rear end of the guide rod; A transmission rod has one end pivotally connected to the connection plate, and the other end pivotally connected to the middle of the first claw and the middle of the second claw.

5. The automatic iron removal system for ore according to claim 1, characterized in that: The second truss comprises: The second base is provided with a second slideway; A second frame, the bottom of which cooperates with the second slideway; A second horizontal guide rail is disposed on the top of the second frame; a second vertical guide rail, cooperating with the second horizontal guide rail; The second sliding seat cooperates with the second vertical guide rail and is used to fix the material-shifting robot so that it can move along the extension direction of the second slideway, the second horizontal guide rail and the second vertical guide rail.

6. The automatic iron removal system for ore according to claim 5, characterized in that: The material shifting robot is a material shifting plate, and the material shifting plate is arranged at the bottom of the second sliding seat.

7. The automatic iron removal system for ore according to claim 1, characterized in that: The control device is configured to: In response to the detection signal sent by the metal detector, the positioning device is controlled to be turned on or off.

8. The automatic iron removal system for ore according to claim 7, characterized in that: The positioning device includes a first positioner respectively arranged between the metal detector and the first truss, a second positioner arranged between the first truss and the second truss, and a third positioner arranged behind the second truss.

9. The automatic iron removal system for ore according to claim 8, characterized in that: The automatic iron removal system also includes an alarm device electrically connected to the control device; The control device is also configured to: In response to the received position signal generated by the third locator, the alarm device is controlled to send out an alarm signal.

10. The automatic iron removal system for ore according to claim 1, characterized in that: The sorting device further includes a first collecting box, and the material-diverting device further includes a second collecting box, wherein the first collecting box and the second collecting box correspond to the sorting manipulator and the material-diverting manipulator, respectively, and are used to collect the metal impurities; The automatic iron removal system also includes a protective net arranged on the periphery of the conveyor belt.

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