Series-parallel connection transformation multi-mechanical-arm gangue sorting system and control strategy thereof

• Main Authors: JIANG ZHENNAN, CHI HAIBO, GAO FEI, ZHOU LIBING, LU WEIDONG, HUANG XIAOMING, ZHANG YUANHAO, CUI PENGFEI, GU QIAOMING, WANG YAN
• Format: Patent
• Language: Chinese; English
• Published: 08.12.2023
• Subjects: PERFORMING OPERATIONS; POSTAL SORTING; SEPARATING SOLIDS FROM SOLIDS; SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTEDPIECE-MEAL, e.g. BY PICKING; TRANSPORTING

The invention relates to the technical field of sorting, in particular to a series-parallel connection conversion multi-mechanical-arm gangue sorting system and a control strategy thereof.The series-parallel connection conversion multi-mechanical-arm gangue sorting system comprises a belt conveyor, a vibration screening device and a plurality of mechanical arm sorting devices arranged in the conveying direction of the belt conveyor; each mechanical arm sorting device comprises two multi-degree-of-freedom mechanical arms, and the functional forms of mechanical claws on the mechanical arms can be divided into the grabbing form and the poking-away form. And the controller controls the two mechanical arms to independently sort under the control of series connection or the two mechanical arms in the same mechanical arm sorting device cooperatively operate to sort under the control of parallel connection. And according to the sorting control strategy, the distribution position and the particle size of the coal gang