阅读说明：本技术 一种智能化机器人选矿装置及其选矿方法 (Intelligent robot beneficiation device and beneficiation method thereof ) 是由 张晓波 周晓云 王一帆 于 2020-05-21 设计创作，主要内容包括：一种智能化机器人选矿装置及其选矿方法,其中所述选矿装置包括：输送机构,包括上层输送辊、下层输送辊及输送带单元,所述输送带分别与所述上层传送辊或所述下层传输辊抵接；振动给料机构,包括给料盘,所述给料盘的进料口对应所述输送机构的出料口；矿石排队机构；矿石识别机构,用于对矿石进行定位和体积识别的所述矿石识别机构在输送方向上位于所述矿石排队机构的后端；矿石抓取机械手机构,在输送方向上位于所述矿石识别机构的后端。本选矿装置采用排队装置对输送的矿石进行排队,采用射线感应装置和图像识别装置对矿石进行定位并计算大小,采用矿石抓取机械手对矿石进行抓取筛选,效率高、准确率高,减少人工成本,提高矿石质量。(An intelligent robot beneficiation device and a beneficiation method thereof, wherein the beneficiation device comprises: the conveying mechanism comprises an upper conveying roller, a lower conveying roller and a conveying belt unit, and the conveying belt is respectively abutted against the upper conveying roller or the lower conveying roller; the vibration feeding mechanism comprises a feeding disc, and a feeding hole of the feeding disc corresponds to a discharging hole of the conveying mechanism; an ore queuing mechanism; the ore identification mechanism is used for positioning and identifying the volume of ore and is positioned at the rear end of the ore queuing mechanism in the conveying direction; and the ore grabbing mechanical arm mechanism is positioned at the rear end of the ore recognition mechanism in the conveying direction. This ore dressing device adopts the device of lining up to line up the ore of carrying, adopts ray induction system and image recognition device to fix a position and calculate the size to the ore, adopts the ore to snatch the manipulator and snatch the screening to the ore, and is efficient, the rate of accuracy is high, reduces the cost of labor, improves the ore quality.)

1. An intelligent robot ore dressing device, its characterized in that includes:

the conveying mechanism (1) comprises an upper conveying roller (11), a lower conveying roller (12) and a conveying belt unit which are arranged in a stacked mode, the conveying belt unit comprises a conveying belt (13) extending along the conveying direction and two large conveying rollers (111) respectively located at the front end and the rear end of the conveying belt (13), and at least one large conveying roller (111) can move in the conveying direction, so that the conveying belt is abutted to the upper conveying roller (11) or the lower conveying roller (12) respectively;

the vibration feeding mechanism (2), the vibration feeding mechanism (2) comprises a feeding disc (21), and a feeding hole of the feeding disc (21) corresponds to a discharging hole of the conveying mechanism (1);

the ore queuing mechanism (3) is positioned above the conveying start position of the conveying belt (13);

the ore identification mechanism (4) is used for positioning and identifying the volume of the ore, and the ore identification mechanism (4) is positioned at the rear end of the ore queuing mechanism (3) in the conveying direction;

the ore grabbing mechanical arm mechanism (5) is installed above the conveying belt (13) and is located at the rear end of the ore recognition mechanism (4) in the conveying direction.

2. The intelligent robotic beneficiation apparatus according to claim 1, wherein: wherein at least one of the large conveying rollers (111) is a driving roller.

3. The intelligent robotic beneficiation apparatus according to claim 1, wherein: the discharging opening of the feeding disc (21) is provided with horizontally arranged arrangement sawteeth (22), and the arrangement sawteeth (22) comprise a plurality of triangular blocks (221) which are arranged in parallel along the direction perpendicular to the conveying direction.

4. The intelligent robotic beneficiation apparatus according to claim 3, wherein: the ore queuing mechanism (3) comprises fixed mounting rods (31) arranged along the direction perpendicular to the conveying direction and separation units (32) mounted on the fixed mounting rods (31) at intervals, and at least one group of ore queuing mechanisms (3) is mounted in the conveying direction; the separation units of the first group of ore queuing mechanisms (3) are arranged corresponding to the triangular blocks (221).

5. The intelligent robotic beneficiation apparatus according to claim 1, wherein: the ore identification mechanism (4) comprises a ray sensing unit (41) for acquiring the position and quantity information of the ore and an image identification unit (42) for acquiring the position and volume information of the ore, wherein the ray sensing unit (41) and the image identification unit (42) are sequentially arranged in the conveying direction.

6. The intelligent robotic beneficiation apparatus according to claim 1, wherein: the ore grabbing manipulator mechanism (5) comprises a power distribution unit (51), a horizontal connecting flange (52) located below the power distribution unit (51), a connecting lifting rod (53) connected between the power distribution unit (51) and the horizontal connecting flange (52) and a clamping jaw (54) installed below the horizontal connecting flange (52), wherein the power distribution unit (51) is used for driving the clamping jaw (54) to move in the space.

7. The intelligent robotic beneficiation apparatus according to claim 6, wherein: a set of, and each group is installed at least in ore snatchs manipulator mechanism (5) side be provided with the side that conveyer belt (13) correspond rolls down fill (6).

8. The intelligent robotic beneficiation apparatus according to claim 7, wherein: the rolling bucket (6) is located on two sides of the conveying belt (13) along the conveying direction, and the rolling path is from the upper side of the conveying belt (13) to the upper side of the lower layer of the conveying belt (13).

9. The intelligent robotic beneficiation apparatus according to claim 8, wherein: and a blanking barrier strip (7) corresponding to the conveying belt (13) is arranged above the conveying belt (13) supported and driven by the lower conveying roller (12).

10. The beneficiation method of the intelligent robotic beneficiation plant according to claim 1, comprising the steps of:

placing the ore into the vibrating feeder (2), and conveying the ore onto the conveying mechanism (1) through the vibration of the vibrating feeder (2);

ore enters the conveyer belt (13) supported and driven by the upper layer of conveyer rollers (11) to be conveyed, and the ore queuing mechanism (3) transversely adjusts the ore according to the size and the conveying speed of the ore to realize the queuing treatment of the ore;

conveying the queued ores into the ore identification mechanism (4), comparing the number of effective ores and ineffective ores through a ray sensing unit (41), and performing primary positioning on the ores with smaller number; accurately positioning the preliminarily positioned ore through an image recognition device (42) to obtain theoretical position data and volume recognition data of the ore, transmitting the theoretical position data to a controller, and obtaining real-time position data of the ore according to the transmission speed of the conveyor belt (13);

conveying the ore to a position (5) corresponding to the ore grabbing mechanical arm mechanism, wherein the ore grabbing mechanical arm mechanism (5) grabs the ore through ore real-time position data provided by the controller;

the grabbed ores are moved to a roll-off hopper (6) corresponding to the ore grabbing manipulator mechanism (5), and the ores are rolled to the conveying belt (13) supported and driven by the lower conveying roller (12) for reverse conveying;

ore conveyed by the lower conveying rollers (12) is blocked by the blanking barrier strips (7) and moves towards the side faces of the conveying belts (13) to realize blanking.

Technical Field

The invention relates to the field of ore screening mechanical equipment, in particular to an intelligent robot beneficiation device and a beneficiation method thereof.

Background

In order to ensure the quality during smelting, ores with certain purity are required to be used, and meanwhile, in order to fully utilize the ores, the sorting of the ores is an important step. In the existing ore screening devices and methods, manual screening or water is adopted as a sorting medium. Manual screening is time-consuming and labor-consuming, the screening efficiency is low, and screening errors are easy; through mixing the back to ore and water, screen again, need use a large amount of water resources, also produced serious pollution to water simultaneously, influence the environment on every side. With the development of robotics and computer graphics, it has become possible to accurately position ores and to grasp them with a robot arm.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an intelligent robot beneficiation device and a beneficiation method thereof.

The specific technical scheme of the invention is as follows, an intelligent robot ore dressing device comprises:

the conveying mechanism comprises an upper conveying roller, a lower conveying roller and a conveying belt unit which are arranged in a stacked mode, the conveying belt unit comprises a conveying belt extending along the conveying direction and two large conveying rollers respectively positioned at the front end and the rear end of the conveying belt, and at least one large conveying roller can move in the conveying direction to enable the conveying belt to be abutted against the upper conveying roller or the lower conveying roller;

the vibration feeding mechanism comprises a feeding disc, and a feeding hole of the feeding disc corresponds to a discharging hole of the conveying mechanism;

the ore queuing mechanism is positioned above the conveying starting position of the conveying belt;

the ore identification mechanism is used for positioning and identifying the volume of ore and is positioned at the rear end of the ore queuing mechanism in the conveying direction;

and the ore grabbing mechanical arm mechanism is arranged above the conveying belt and is positioned at the rear end of the ore identification mechanism in the conveying direction.

Preferably, at least one of the large conveying rollers is a drive roller.

Preferably, the discharge port of the feeding tray is provided with horizontally arranged arrangement saw teeth, and the arrangement saw teeth comprise a plurality of triangular blocks which are arranged in parallel along the direction perpendicular to the conveying direction.

Thereby, the alignment serrations are able to initially line up ore as it enters the conveyor mechanism.

Preferably, the ore queuing mechanism comprises a fixed mounting rod arranged along the direction perpendicular to the conveying direction and a separation unit mounted on the fixed mounting rod at intervals, and at least one group of ore queuing mechanisms is mounted in the conveying direction; the separation units of the first group of ore queuing mechanisms are arranged corresponding to the triangular blocks.

Therefore, the separation unit can be transversely adjusted according to the size and the conveying speed of the ore so as to adapt to the ore dressing requirements of different conditions.

Preferably, the ore identification mechanism includes a radiation sensing unit for acquiring information on the position and quantity of the ore, and an image identification unit for acquiring information on the position and volume of the ore, and the radiation sensing unit and the image identification unit are sequentially arranged in the conveying direction.

The ray induction device is used for carrying out preliminary positioning on ores, calculating and comparing the number of effective ores and ineffective ores, carrying out accurate positioning and volume identification on fewer effective ores or ineffective ores through the image identification device, and transmitting data of the ores to the controller for subsequent grabbing and mineral separation.

Preferably, the ore grabbing mechanical arm mechanism comprises a power distribution unit, a horizontal connecting flange positioned below the power distribution unit, a connecting lifting rod connected between the power distribution unit and the horizontal connecting flange, and a clamping jaw mounted below the horizontal connecting flange, wherein the power distribution unit is used for driving the clamping jaw to move in a space.

Therefore, the clamping jaw moves and grabs in a hoisting mode of the power distribution unit, and the moving speed is high and the lifting capacity is strong; connect the lifter to adopt three groups, ore dressing efficiency is higher.

Preferably, at least one group of ore grabbing manipulator mechanisms is installed, and a rolling hopper corresponding to the conveying belt is arranged on the side of each group of ore grabbing manipulator mechanisms.

The ore grabbing mechanical arm mechanism can increase and decrease in the conveying direction according to the number of ores so as to meet the ore dressing requirement.

Preferably, the rolling buckets are located on two sides of the conveyor belt along the conveying direction, and the rolling paths are from the side edges of the upper layer of the conveyor belt to the upper part of the lower layer of the conveyor belt.

Therefore, the ore grabbed by the ore grabbing manipulator is placed into the rolling bucket and can be rolled to the lower layer from the upper layer of the conveying belt, so that the lower layer of the conveying belt can convey the ore reversely.

Preferably, a blanking barrier strip corresponding to the conveying belt is arranged above the conveying belt supported and driven by the lower conveying roller.

Therefore, the ore conveyed and sorted from the lower layer of the conveying belt moves to the side edge of the conveying belt under the action of the blanking barrier strips to realize blanking; the blanking barrier strips can realize blanking on two sides by inclining forwards from the middle to the conveying directions on two sides, and can also realize single-side blanking by one-way inclination.

The embodiment also discloses a beneficiation method of the intelligent robot beneficiation device, which comprises the following steps:

placing the ore into the vibrating feeder (2), and conveying the ore onto the conveying mechanism (1) through the vibration of the vibrating feeder (2);

ore enters the conveyer belt (13) supported and driven by the upper layer of conveyer rollers (11) to be conveyed, and the ore queuing mechanism (3) transversely adjusts the ore according to the size and the conveying speed of the ore to realize the queuing treatment of the ore;

conveying the queued ores into the ore identification mechanism (4), comparing the number of effective ores and ineffective ores through a ray sensing unit (41), and performing primary positioning on the ores with smaller number; accurately positioning the preliminarily positioned ore through an image recognition device (42) to obtain theoretical position data and volume recognition data of the ore, transmitting the theoretical position data to a controller, and obtaining real-time position data of the ore according to the transmission speed of the conveyor belt (13);

conveying the ore to a position (5) corresponding to the ore grabbing mechanical arm mechanism, wherein the ore grabbing mechanical arm mechanism (5) grabs the ore through ore real-time position data provided by the controller;

the grabbed ores are moved to a roll-off hopper (6) corresponding to the ore grabbing manipulator mechanism (5), and the ores are rolled to the conveying belt (13) supported and driven by the lower conveying roller (12) for reverse conveying;

ore conveyed by the lower conveying rollers (12) is blocked by the blanking barrier strips (7) and moves towards the side faces of the conveying belts (13) to realize blanking.

Therefore, the ray sensing unit identifies and positions a small number of ores, the calculation amount can be reduced, the working pressure of the ore grabbing manipulator can be reduced, and the working efficiency can be improved; the quantity comparison of the effective ores and the ineffective ores is carried out in a period of time before the ore grabbing mechanical arm mechanism works, and the ray sensing unit and the image recognition unit carry out calculation positioning on the effective ores and the ineffective ores in the period of time; in addition, the calculated location of the valid ore or the invalid ore can be manually input, and even if the input ore quantity is large, the large ore can be identified and grabbed.

In conclusion, the invention has the following beneficial effects:

according to the intelligent robot ore dressing device and the ore dressing method thereof, the conveyed ores are queued by the queuing mechanism, the ores are positioned and calculated by the ray sensing unit and the image recognition unit, and the ores are grabbed by the ore grabbing manipulator mechanism to realize screening.

Drawings

FIG. 1 is a perspective view of an intelligent robotic beneficiation plant of the present invention;

FIG. 2 is a top view of the intelligent robotic beneficiation plant of the present invention;

FIG. 3 is a front view of the intelligent robotic beneficiation plant of the present invention;

FIG. 4 is a right side view of the middle portion of the intelligent robotic beneficiation plant of the present invention;

in the figure, 1-a conveying frame, 11-an upper layer conveying roller, 111-a large conveying roller, 12-a lower layer conveying roller, 13-a conveying belt, 2-a vibration feeder, 21-a feeding disc, 22-an arrangement saw tooth, 221-a triangular block, 3-an ore queuing device, 31-a fixed mounting rod, 32-a separation unit, a 4-an ore identification cabinet, a 41-ray sensing device, a 42-an image identification device, a 5-an ore grabbing mechanical arm, a 51-a power distribution device, a 52-a horizontal connecting flange, 53-a connecting lifting rod, 54-a clamping jaw, a 6-a rolling bucket and 7-a blanking baffle strip.

Detailed Description

The invention will be further explained by means of specific embodiments with reference to the drawings.

As shown in fig. 1, fig. 2, fig. 3 and fig. 4, an intelligent robot ore dressing device includes:

the conveying mechanism 1 comprises an upper conveying roller 11, a lower conveying roller 12 and a conveying belt unit which are arranged in a stacked mode, wherein the conveying belt unit comprises a conveying belt 13 extending along a conveying direction and two large conveying rollers 111 respectively located at the front end and the rear end of the conveying belt 13, and at least one large conveying roller 111 can move in the conveying direction, so that the conveying belt is abutted to the upper conveying roller 11 or the lower conveying roller 12;

the vibration feeding mechanism 2, the vibration feeding mechanism 2 includes the feed tray 21, the feed inlet of the feed tray 21 corresponds to the discharge outlet of the conveying mechanism 1;

the ore queuing mechanism 3 is positioned above the conveying starting position of the conveying belt 13;

the ore identification mechanism 4 is used for positioning and identifying the volume of the ore, and the ore identification mechanism 4 is positioned at the rear end of the ore queuing mechanism 3 in the conveying direction;

the ore grabbing mechanical arm mechanism 5 is arranged above the conveying belt 13, and the ore grabbing mechanical arm mechanism 5 is positioned at the rear end of the ore recognition mechanism 4 in the conveying direction of the conveying belt 13.

After vibratory feeder 2 carries carriage 1 with the ore, conveyer belt 13 carries the ore to the feed inlet department of the mechanism of lining up of ore, the ore mechanism of lining up 3 lines up the ore to make things convenient for ore discernment cabinet 4 to discern the location to the ore after lining up, and make things convenient for subsequent ore to snatch manipulator mechanism 5 and snatch the ore dressing, whole ore dressing mode accuracy is high and efficient, can save the ore dressing cost greatly.

Specifically, the forward transmission direction in this embodiment is from right to left, and the reverse transmission direction is from left to right.

As shown in fig. 1, 2, and 3, the upper layer conveyor roller 11 and the lower layer conveyor roller 12 each include a plurality of rollers disposed on a horizontal plane, each of the rollers extending perpendicular to the conveying direction, and the plurality of rollers are arranged at intervals in the conveying direction. In some embodiments, the parameters such as the distance and the number between the roller and the roller can be adjusted according to the actual requirement, and are not limited or described herein. Specifically, the conveyor belt 13 is used for carrying ore on a horizontal plane, and preferably, a front end of the conveyor belt 13 extends to a discharge port of the vibratory feeding mechanism 2, and a rear end of the conveyor belt 13 extends to a rear end of the ore gripping manipulator mechanism 5. The front end and the rear end of the conveying belt 13 are respectively provided with a large conveying roller 111, and at least one of the large conveying rollers 111 is a driving roller, so that power output can be provided for the conveying belt 13. Preferably, the large roller 111 at the leading end of the conveyor belt 13 moves rightward in the conveying direction, achieving a tensioned state of the conveyor belt 13; or, the large roller 111 at the leading end of the conveyor belt 13 moves leftward in the conveying direction, and the slack state of the conveyor belt 13 is achieved.

This shortens the pitch between the large conveying rollers 111, and allows the lower layer of the conveyor belt 13 to be loosened above the lower layer conveying rollers 12, thereby enabling reverse conveyance. Foretell structure sets up on one set of device, through the adjustment the cooperation of conveyer belt 13 and conveying roller realizes the forward and reverse transport to the ore, has saved the provision of extra reverse conveying mechanism on the one hand, reduction in production cost, and on the other hand has saved installation space, realizes the compact design of mechanism, configuration optimization.

As shown in fig. 1, 2 and 3, the discharge port of the feeding tray 21 is installed with horizontally arranged array saw teeth 22, and preferably the array saw teeth 22 are composed of not less than 3 triangular blocks 221 installed side by side in a direction perpendicular to the conveying direction. Preferably, the cross section of the triangular block 221 is in the shape of an isosceles or equilateral triangle, and each of the triangular blocks 221 is symmetrically arranged along the conveying direction. The triangular blocks 221 are made of hard metal or marble, the triangular blocks 221 are abraded due to the fact that ores are in contact with the triangular blocks 221 in the queuing process of the ores, and the service life of the triangular blocks 221 can be prolonged through the arrangement of the materials.

The alignment serrations 22 thereby enable preliminary queuing of ore as it enters the conveyor 1.

As shown in fig. 1, 2 and 3, the ore queuing mechanism 3 comprises a fixed mounting rod 31 arranged along the direction perpendicular to the conveying direction and a separation unit 32 mounted on the fixed mounting rod 31 at intervals, and at least one group of ore queuing mechanisms 3 is mounted in the conveying direction; the partition units 32 of the first group of ore line loading mechanisms 3 are arranged in positions corresponding to the triangular blocks 221. Specifically, the fixed mounting bar 31 is erected above the conveyor belt 13. The partition unit 32 comprises a plurality of partition blocks, preferably equally spaced on the fixed mounting bar 31 and arranged towards the conveyor belt 13.

Therefore, the ores are conveyed from the feeding end to the discharging end of the ore queuing mechanism 3 through the conveying belt 13, and the separation unit 32 can be transversely adjusted according to the sizes and conveying speeds of the ores so as to adapt to the ore dressing requirements of different conditions.

As shown in fig. 1, 2, and 3, the ore recognition mechanism 4 includes a radiation sensing unit 41 for acquiring information on the position and quantity of the ore, and an image recognition unit 42 for acquiring information on the position and volume of the ore, and the radiation sensing unit 41 and the image recognition unit 42 are sequentially arranged in the conveying direction.

The ray sensing device 41 is used for performing primary positioning on ores and calculating and comparing data such as the number of effective ores and ineffective ores, the image recognition device 42 is used for acquiring data such as accurate positioning and volume recognition of fewer effective ores or ineffective ores, and the data of the ores are transmitted to the controller for subsequent grabbing and mineral separation.

As shown in fig. 1, 2, 3 and 4, the ore gripping robot 5 mechanism includes a power distribution unit 51, a horizontal connecting flange 52 located below the power distribution unit 51, a connecting lifting rod 53 connected between the power distribution unit 51 and the horizontal connecting flange 52, and a clamping jaw 54 installed below the horizontal connecting flange 52, wherein the power distribution unit 51 is used for driving the clamping jaw to move in the space. Preferably, in some embodiments, the clamping jaw 54 is provided with a horizontal and up-and-down movement under the action of the power distribution device 51.

Therefore, the clamping jaw 54 moves and grabs in a hoisting mode of the power distribution unit 51, and the moving speed and the lifting capacity are high; three groups of connecting lifting rods 53 are adopted, so that the ore dressing efficiency is higher.

As shown in fig. 1, 2, 3 and 4, at least one group of ore grabbing manipulator mechanisms 5 is installed, and a rolling bucket 6 corresponding to the conveying belt (13) is arranged on the side of each group of ore grabbing manipulator 5 mechanisms.

The ore grabbing mechanical arm mechanism 5 can increase and decrease in the conveying direction according to the ore quantity so as to meet the ore dressing requirement.

As shown in fig. 1, 2, 3, and 4, the rolling buckets 6 are located on both sides of the conveyor belt (13) in the conveying direction, and the rolling path extends from the upper side of the conveyor belt 13 to the upper side of the lower layer of the conveyor belt 13. Specifically, in the vertical direction, a feeding port of the roll-off hopper is positioned below the upper layer of the conveying belt (13), and a discharging port is positioned above the lower layer of the conveying belt (13).

From this, the ore that is snatched by ore grabbing manipulator mechanism 5 is put into and is rolled hopper 6, can roll to the lower floor by conveyer belt 13 upper strata to carry out reverse transportation by conveyer belt 13 lower floor.

As shown in fig. 2 and 3, a blanking barrier strip 7 is arranged above a conveying belt 13 supported and driven by a lower conveying roller 12. Preferably, the blanking barrier strip 7 is arranged between the upper layer and the lower layer of the conveying belt 13 and can block ores carried on the lower layer of the conveying belt 13 in the conveying direction.

Therefore, the ore conveyed and sorted by the lower layer of the conveying belt 13 moves to the side edge of the conveying belt 13 under the action of the blanking barrier strip 7 to realize blanking; the blanking barrier strips 7 can realize blanking on two sides by inclining forwards from the middle to the conveying directions on two sides, and can also realize blanking on one side by inclining in a single direction.

Referring to fig. 1, 2, 3 and 4, a beneficiation method of an intelligent robot beneficiation device includes the following steps:

ore is put into the vibrating feeder 2, the part of the vibrating feeder 2 for receiving the ore can vibrate relative to the ore, and the ore is conveyed to the conveying mechanism 1 on the vibrating feeder 2 through the vibrating action;

ore enters the conveyer belt 13 supported and driven by the upper layer conveyer roller 11 to be conveyed (at the moment, the conveyer belt is in forward transmission), the ore queuing mechanism 3 sorts the ore entering the feeding port of the ore queuing mechanism, specifically, the ore is transversely adjusted according to the size and the conveying speed of the ore, so that the ore queuing processing is realized, and the queued ore is output from the discharging port of the ore queuing mechanism 3;

the ore output from the discharge port of the ore queuing mechanism 3 is input into the ore identification mechanism 4 through the feed port of the ore conveying identification mechanism 4, the quantity of the effective ore and the quantity of the ineffective ore are compared through the ray induction unit 41, and the ore with less quantity is preliminarily positioned; accurately positioning the preliminarily positioned ores through an image recognition device 42 to obtain theoretical position data and volume recognition data of the ores, transmitting the theoretical position data to a controller, obtaining real-time position data of the ores according to the transmission speed of the conveyor belt (13), and outputting the ores with the theoretical position data obtained from a discharge hole of the ore recognition mechanism 4;

outputting the discharge port of the ore recognition mechanism 4 into the ore grabbing manipulator mechanism through the feed port of the ore grabbing manipulator mechanism 5 until the ore is conveyed to the position 5 corresponding to the ore grabbing manipulator mechanism, and moving the ore grabbing manipulator mechanism 5 towards the ore through the ore real-time position data provided by the controller and grabbing the ore;

the grabbed ore is moved to a roll-off hopper 6 corresponding to the ore grabbing manipulator mechanism 5, the ore grabbing manipulator mechanism 5 releases the ore, the ore firstly falls into the roll-off hopper 6, and then falls onto a conveying belt 13 supported and driven by a lower conveying roller 12 through the roll-off hopper 6 to be reversely conveyed;

ore conveyed by the lower conveying rollers 12 moves to the side face of the conveying belt 13 under the blocking of the blanking barrier strips 7 to realize blanking.

Therefore, the ray sensing unit 41 identifies and positions a small number of ores, so that the calculation amount can be reduced, the working pressure of the ore grabbing manipulator mechanism 5 can be reduced, and the working efficiency can be improved; the quantity comparison of the effective ores and the ineffective ores is calculated in a period of time before the ore grabbing manipulator mechanism 5 works, and the ray sensing unit 41 and the image recognition unit 42 are used for calculating and positioning the effective ores and the ineffective ores in the period of time; in addition, the calculated location of the valid ore or the invalid ore can be manually input, and even if the input ore quantity is large, the large ore can be identified and grabbed.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and the technical contents of the present invention are all described in the claims.