A robotic reagent dosing device for floatation beneficiation

Abstract

The utility model relates to mineral processing technical field discloses a kind of robot dispensing medicine devices for flotation beneficiation, including mobile cantilever crane, feeding platform, clamping robot, multilayer heavy load storage shelf, uncovering robot and unloading platform, mobile cantilever crane is responsible for the medicine barrel from transport vehicle to unload to the feeding platform temporary storage, clamping robot moves along ground rail, for grabbing medicine barrel and transfer between each station, multilayer shelf is used to classify storage medicine, uncovering robot is equipped with vision system, for automatically opening and closing medicine barrel cover, unloading platform is used to receive medicine barrel and complete medicine automatic pouring and dispensing operation.The utility model automatically completes the warehousing, depository and handling of medicine barrel by clamping robot, and combines visual uncovering and accurate unloading, realizes the full-process automation of dispensing medicine, reduces manual intervention, improves operation efficiency and accuracy, effectively reduces manpower cost and operation risk.

Description

Technical Field

[0001] This utility model relates to the field of mineral processing technology, and in particular to a robotic reagent storage and preparation device for flotation mineral processing. Background Technology

[0002] Flotation is a crucial separation technology in the field of mineral processing. It involves adding specific reagents to the slurry to alter the physicochemical properties of the mineral surface, thereby achieving efficient separation of the target mineral from gangue. In this process, the precise and stable addition of reagents is the key factor determining the quality of flotation indicators. Traditional manual addition methods have many drawbacks. Therefore, the development of automated and intelligent reagent storage and preparation devices has become an important direction for the modernization of mineral processing technology. This utility model relates to a robotic reagent storage and preparation device for flotation mineral processing.

[0003] Existing automated dosing technologies mostly adopt a combination of centralized reagent mixing tanks with metering pumps and pipelines. The technical principle is usually that the barrelled reagent is transported to the unloading area by equipment such as forklifts, and then manually opened and poured into a large storage tank for dilution and mixing. Then, through a pump, valve and pipeline system driven by a central controller, the prepared reagent solution is quantitatively delivered to the addition points of each flotation machine. The entire system relies on a preset program to control the start and stop of the pump and the flow rate, realizing long-distance, centralized reagent addition.

[0004] However, the automation of the existing technical solutions mentioned above is limited to the dispensing and addition of medicines. The pre-processes such as loading, unloading, handling, opening, and pouring of medicine containers still rely heavily on manual labor and auxiliary equipment such as forklifts. This does not completely free personnel from heavy physical labor and potentially harmful environments. Moreover, the connection between the various operation links is not smooth, making it difficult to form a complete, continuous, and fully automated closed loop for medicine storage and dispensing, which limits the further improvement of overall production efficiency. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a robotic reagent storage and dispensing device for flotation mineral processing, which aims to improve the problem that the pre-processes such as loading, unloading, handling, opening, and dumping of reagent tanks still rely heavily on manual labor and auxiliary equipment such as forklifts.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robotic reagent storage and dispensing device for flotation mineral processing, comprising: A mobile cantilever crane includes a support column, one end of which is rotatably connected to a first arm, one end of which is provided with a hook, and a hydraulic rod is rotatably connected to the inner wall of the support column, with the output end of the hydraulic rod rotatably connected to the inner wall of the first arm. The loading platform is used for temporary storage of reagent barrels to be processed; A gripping robot that moves along a ground track is used to grab medicine containers and transfer them between workstations; Multi-layer heavy-duty storage rack, which is used to store various types of medicine barrels; A lid-opening robot, equipped with a vision recognition system, is used to automatically open and close the lid of the medicine container; The unloading platform is used to receive medicine barrels and complete the automatic pouring and dispensing of medicines; The ground rail, located below the gripper robot, provides a horizontal track for the gripper robot to move.

[0007] Furthermore, the other end is rotatably connected to the upper surface of the trolley, and the mobile cantilever crane is used to unload the medicine barrels from the transport vehicle and place them on the loading platform.

[0008] Furthermore, the gripping robot includes a base, a rotating arm 1 rotatably connected to the upper surface of the base, a rotating arm 2 rotatably connected to the inner wall of the rotating arm 1, a rotating arm 3 rotatably connected to one end of the rotating arm 2, and a gripper rotatably connected to one end of the rotating arm 3.

[0009] Furthermore, the base one, rotating arm one, rotating arm two, rotating arm three, and gripper are driven by a motor.

[0010] Furthermore, the multi-layer heavy-duty storage rack is designed with an adjustable layer height structure to accommodate the storage needs of medicine barrels of different sizes.

[0011] Furthermore, the lid-opening robot includes a base two, a rotating arm four rotatably connected to the outer wall of the base two, a connecting block rotatably connected to one end of the rotating arm four, a support arm two fixedly connected to the outer wall of the connecting block, and a lid-screwing claw rotatably connected to one end of the support arm two.

[0012] Furthermore, the unloading platform is equipped with a weighing sensor and a flow control device to achieve quantitative addition of the reagent.

[0013] Furthermore, one side of the ground rail also includes an external empty barrel recycling conveyor belt, which is used to automatically transport the unloaded empty barrels to the recycling area.

[0014] This utility model has the following beneficial effects: In this invention, a gripping robot automatically moves along a ground rail to accurately grab medicine barrels on the loading platform and transfer them to multi-layer shelves for storage, or transports designated medicine barrels to the opening and unloading station according to instructions. This achieves full automation of the medicine barrel warehousing, warehousing, and handling process, reduces manual intervention, improves operational efficiency and accuracy, and reduces labor costs and operational risks.

[0015] In this invention, the lid-opening robot automatically positions the lid and completes the opening and closing operations based on a visual recognition system. Combined with the weighing and flow control device built into the unloading platform, it can achieve quantitative, timed, and precise addition of reagents, effectively ensuring the stability of reagent concentration during flotation, improving mineral processing indicators, and avoiding health hazards caused by direct human contact with reagents. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of a robotic reagent storage and preparation device for flotation mineral processing proposed in this utility model. Figure 2 This is a schematic diagram of the feeding platform structure of a robotic reagent storage and dispensing device for flotation mineral processing proposed in this utility model; Figure 3 This is a schematic diagram of a mobile cantilever crane structure for a robotic reagent storage and dispensing device for flotation mineral processing proposed in this utility model. Figure 4 This is a schematic diagram of the gripping robot structure of a robotic reagent storage and dispensing device for flotation mineral processing proposed in this utility model. Figure 5 This is a schematic diagram of the opening robot structure of a robotic reagent storage and preparation device for flotation mineral processing proposed in this utility model.

[0017] Legend: 1. Mobile cantilever crane; 101. Trolley; 102. Support column; 103. Outrigger 1; 104. Hook; 105. Hydraulic rod; 2. Loading platform; 3. Gripping robot; 301. Base 1; 302. Rotating arm 1; 303. Rotating arm 2; 304. Rotating arm 3; 305. Gripper; 4. Multi-layer heavy-duty storage rack; 5. Lid-opening robot; 501. Base 2; 502. Rotating arm 4; 503. Connecting block; 504. Outrigger 2; 505. Lid-opening claw; 6. Unloading platform; 7. Ground rail. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Reference Figures 1-3This utility model provides an embodiment of a robotic reagent storage and dispensing device for flotation mineral processing, comprising: a mobile cantilever crane 1, which is used to unload reagent barrels from a transport vehicle and place them on a loading platform 2. The mobile cantilever crane 1 includes a trolley 101, which allows the entire lifting mechanism to be flexibly moved to the optimal working position. A support column 102 is rotatably connected to the upper surface of the trolley 101. A support arm 103 is rotatably connected to one end of the support column 102. A hook 104 is provided at one end of the support arm 103. A hydraulic rod 105 is rotatably connected to the inner wall of the support column 102. The output end of the hydraulic rod 105 is rotatably connected to the inner wall of the support arm 103. The loading platform 2 is used to temporarily store reagent barrels to be processed.

[0020] Specifically, the mobile cantilever crane 1 can move flexibly through the trolley 101. Together with the adjustable lifting mechanism consisting of the support column 102, the outrigger 103, the hook 104 and the hydraulic rod 105, it can quickly and accurately complete the unloading of the medicine barrels and safely place the medicine barrels on the loading platform 2 for temporary storage, providing material preparation for subsequent automated processes, thus improving unloading efficiency and operational safety.

[0021] Reference Figure 1 , Figure 2 and Figure 4 The gripping robot 3 moves along the ground track 7 to grab medicine barrels and transfer them between workstations. The gripping robot 3 includes a base 301, a rotating arm 302 rotatably connected to the upper surface of the base 301, a rotating arm 303 rotatably connected to the inner wall of the rotating arm 302, a rotating arm 304 rotatably connected to one end of the rotating arm 303, and a gripper 305 rotatably connected to one end of the rotating arm 304. The base 301, rotating arm 302, rotating arm 303, rotating arm 304, and gripper 305 are driven by motors. The multi-joint robotic arm structure can realize six degrees of freedom of movement, so that the robot's working range covers the entire working area.

[0022] Multi-layer heavy-duty storage rack 4 is used to store various types of medicine barrels. The multi-layer heavy-duty storage rack 4 is designed with an adjustable layer height structure to adapt to the storage needs of medicine barrels of different sizes. It not only improves the utilization rate of storage space, but also realizes the zoned and classified management of medicines.

[0023] Specifically, the gripping robot 3, through the multi-degree-of-freedom robotic arm composed of the base 301 and various rotating joints, combined with the horizontal movement capability provided by the ground rail 7, can realize large-scale, high-precision gripping and transfer operations of medicine barrels. With the adjustable-height multi-layer heavy-duty storage rack 4, it not only realizes the automated storage and retrieval and classified storage of medicine barrels, but also improves the utilization rate of warehouse space and the adaptability of the system.

[0024] Reference Figure 1 , Figure 2 and Figure 5 The lid-opening robot 5 is equipped with a vision recognition system for automatically opening and closing the lid of the medicine container. The lid-opening robot 5 includes a base 2 501, a rotating arm 4 502 rotatably connected to the outer wall of the base 2 501, a connecting block 503 rotatably connected to one end of the rotating arm 4 502, a support arm 2 504 fixedly connected to the outer wall of the connecting block 503, and a cap-screwing claw 505 rotatably connected to one end of the support arm 2 504. The multi-joint mechanical structure, combined with the vision recognition system, can automatically identify the position and status of the container lid and accurately complete the opening and closing operations, effectively avoiding direct contact between personnel and hazardous chemicals.

[0025] The unloading platform 6 is used to receive the medicine tank and complete the automatic pouring and dispensing of the medicine. The unloading platform 6 is equipped with a weighing sensor and a flow control device to realize the quantitative addition of the medicine.

[0026] The ground rail 7 is located below the gripping robot 3 and provides a horizontal moving track for the gripping robot 3. The ground rail 7 also includes an external empty bucket recycling conveyor belt on one side, which is used to automatically transport the unloaded empty buckets to the recycling area.

[0027] Specifically, the lid-opening robot 5 uses a multi-joint mechanical structure in conjunction with a vision system to achieve automatic identification and precise opening and closing of the lid, completely replacing manual operation. The unloading platform 6 ensures quantitative addition of the agent through a weighing and flow control device. Together with the ground rail 7 and the empty barrel recycling conveyor belt, a complete closed-loop system for agent processing is formed, realizing fully automated operation.

[0028] Working principle: When this robotic reagent storage and dispensing device for flotation mineral processing is needed, the operator first operates the mobile cantilever crane 1, moves it to a suitable position via the trolley 101, adjusts the support column 102, the first arm 103 and the hydraulic rod 105, and uses the hook 104 to unload the delivered reagent barrels from the transport vehicle and place them on the loading platform 2. Subsequently, the gripping robot 3, through the coordinated action of its base 301, rotating arm 302, rotating arm 303, rotating arm 304 and gripper 305, senses that there are reagent barrels to be processed on the loading platform 2, and automatically moves along the ground rail 7 to the workstation, accurately grabs the reagent barrels, and, according to the instructions of the central control unit, transfers and stores them in the designated empty space on the multi-layer heavy-duty storage rack 4, completing the automated warehousing.

[0029] When the flotation process requires the addition of reagents, the central control unit will automatically issue instructions based on the preset formula or real-time detection signals. The gripping robot 3 will then grab the designated reagent barrel from the multi-layer heavy-duty storage rack 4 and transport it to the capping robot 5 station. The capping robot 5, through the coordinated movement of its base 501, rotating arm 502, connecting block 503, support arm 504 and capping claw 505, and with the help of a vision recognition system, will automatically locate and identify the barrel lid to complete the precise capping operation. After that, the gripping robot 3 will transport the opened reagent barrel to the unloading platform 6 for precise dumping. The unloading platform 6 will realize the quantitative and controllable addition of reagents through its weighing sensor and flow control device.

[0030] After unloading, the clamping robot 3 sends the empty barrel back to the opening robot 5 to close the lid. Finally, the closed empty barrel is placed on the empty barrel recycling conveyor belt and automatically transported to the recycling area. This realizes the unmanned and automated operation of the entire process from drug entry, storage, exit, opening, precise dispensing to empty barrel recycling.

[0031] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic reagent storage and dispensing device for flotation mineral processing, characterized in that, include: A mobile cantilever crane (1) includes a support column (102), one end of which is rotatably connected to a first arm (103), one end of which is provided with a hook (104), and a hydraulic rod (105) is rotatably connected to the inner wall of the support column (102), the output end of which is rotatably connected to the inner wall of the first arm (103). The loading platform (2) is used to temporarily store the reagent barrels to be processed; A gripping robot (3) moves along a ground track (7) to grip medicine barrels and transfer them between workstations; Multi-layer heavy-duty storage rack (4), which is used to store various types of medicine barrels; The lid-opening robot (5) is equipped with a vision recognition system for automatically opening and closing the lid of the medicine barrel; The unloading platform (6) is used to receive the medicine barrel and complete the automatic pouring and dispensing of the medicine; The ground track (7) is located below the gripper robot (3) to provide a horizontal movement track for the gripper robot (3).

2. The robotic reagent storage and dispensing device for flotation mineral processing according to claim 1, characterized in that: The other end of the support column (102) is rotatably connected to the upper surface of the trolley (101), and the mobile cantilever crane (1) is used to unload the medicine barrels from the transport vehicle and place them on the loading platform (2).

3. The robotic reagent storage and dispensing device for flotation mineral processing according to claim 1, characterized in that: The gripping robot (3) includes a base (301), a rotating arm (302) is rotatably connected to the upper surface of the base (301), a rotating arm (303) is rotatably connected to the inner wall of the rotating arm (302), a rotating arm (304) is rotatably connected to one end of the rotating arm (303), and a gripper (305) is rotatably connected to one end of the rotating arm (304).

4. A robotic reagent storage and dispensing device for flotation mineral processing according to claim 3, characterized in that: The base one (301), rotating arm one (302), rotating arm two (303), rotating arm three (304), and gripper (305) are driven by a motor.

5. A robotic reagent storage and dispensing device for flotation mineral processing according to claim 1, characterized in that: The multi-layer heavy-duty storage rack (4) is designed with an adjustable layer height structure to adapt to the storage needs of medicine barrels of different sizes.

6. A robotic reagent storage and dispensing device for flotation mineral processing according to claim 1, characterized in that: The opening robot (5) includes a base two (501), a rotating arm four (502) is rotatably connected to the outer wall of the base two (501), a connecting block (503) is rotatably connected to one end of the rotating arm four (502), a support arm two (504) is fixedly connected to the outer wall of the connecting block (503), and a cap-screwing claw (505) is rotatably connected to one end of the support arm two (504).

7. A robotic reagent storage and dispensing device for flotation mineral processing according to claim 1, characterized in that: The unloading platform (6) is equipped with a weighing sensor and a flow control device to realize the quantitative addition of the agent.

8. A robotic reagent storage and dispensing device for flotation mineral processing according to claim 1, characterized in that: The ground rail (7) also includes an external empty barrel recycling conveyor belt on one side, which is used to automatically transport the unloaded empty barrels to the recycling area.

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