CN107824477A - Top-coal caving face bastard coal automatic sorting method on the spot - Google Patents
Top-coal caving face bastard coal automatic sorting method on the spot Download PDFInfo
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- CN107824477A CN107824477A CN201711058999.5A CN201711058999A CN107824477A CN 107824477 A CN107824477 A CN 107824477A CN 201711058999 A CN201711058999 A CN 201711058999A CN 107824477 A CN107824477 A CN 107824477A
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- 239000003245 coal Substances 0.000 title claims abstract description 296
- 238000000034 method Methods 0.000 title claims abstract description 70
- 239000011435 rock Substances 0.000 claims abstract description 108
- 238000001514 detection method Methods 0.000 claims abstract description 85
- 230000000694 effects Effects 0.000 claims description 26
- 239000007788 liquid Substances 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 20
- 230000002708 enhancing effect Effects 0.000 claims description 13
- 238000000926 separation method Methods 0.000 claims description 12
- 238000009826 distribution Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 239000000839 emulsion Substances 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 235000013399 edible fruits Nutrition 0.000 claims description 2
- 238000013467 fragmentation Methods 0.000 claims description 2
- 238000006062 fragmentation reaction Methods 0.000 claims description 2
- 238000004458 analytical method Methods 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000012790 confirmation Methods 0.000 description 5
- 238000005065 mining Methods 0.000 description 5
- 239000004058 oil shale Substances 0.000 description 5
- 238000001914 filtration Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000002730 additional effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000009533 lab test Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- Sorting Of Articles (AREA)
Abstract
The present invention provides a kind of top-coal caving face bastard coal automatic sorting method on the spot, pass through the issuable spoil type of reasonable analysis top-coal caving face, choose rational coal rock detection method, supporting bastard coal Automated Sorting System, put spoil caused by coal process to top-coal caving face to carry out automatic sorting and throw the complexity for goaf, not increasing production system on the spot, it is not necessary to the chamber in the newly-built similar coal washery in underground, belong to the watershed management of gangue, improve the conevying efficiency of transportation system.In addition, the spoil after automatic sorting is thrown to goaf in such scheme, top-coal caving face end portion is made full use of easily to hang top, support back space is big, the features such as spoil amount that can be accommodated is big, special filling system is saved, normal propulsion that will not be to working face produces interference, is advantageous to quickly propelling for working face.
Description
Technical field
The present invention relates to mine automation production technique field, and in particular to a kind of top-coal caving face bastard coal is automatic on the spot
Method for sorting.
Background technology
The application of top-coal caving face is very extensive, and it is that top-coal caving face is different from common fully-mechanized mining working to put coal process
Key character.Put coal work to rely on ore deposit pressure pressure and crush top coal, coal is put or electro-hydraulic control puts coal, top coal body using artificial
Part spoil is inevitably mixed into during anti-fall.If thinking to avoid this part spoil to go out working face completely, top coal can be influenceed
The rate of recovery, economic benefit reduce, while also do not meet the industrial policy of country；Live general permission part spoil is released, and is improved
Top-coal recovery rate, but this part spoil content is likely to be breached the 10%-20% of total output, comprehensive with 10,000,000 tons of annual production are put
Working face considers that for spoil yield up to ten thousand tons of 100-200, this part spoil not only needs the progress washing of ground coal washery to be added to
This, also takes up mine yield, and this part spoil go out well after can not be continuing with as coal, equivalent to wasting 100-
2000000 tons of coals, cause great energy waste and economic loss.
The content of the invention
, can be effective on the spot in underground the invention provides a kind of top-coal caving face bastard coal automatic sorting method on the spot
Solve top-coal caving face and put spoil caused by coal process, without discharging it again outside well, reduce bastard coal processing cost warp
Ji loss.
Therefore, the present invention provides a kind of top-coal caving face bastard coal automatic sorting method on the spot, comprise the following steps：
Spoil type prejudges step：Put spoil type caused by coal process to top-coal caving face to prejudge, according to pre-
Sentence result and determine spoil type；
Determine recognition methods step：Choose the coal rock detection method with the spoil type matching；
Determine device step：Choose the coal rock detection equipment matched with the coal rock detection method and bastard coal sorting device；
Equipment installation steps：The coal rock detection equipment and the bastard coal sorting device are arranged at the Sub-Level Caving work
Face rear portion handpiece of scraper conveyer does not put the opening position of coal；
Separation step on the spot：The bastard coal that the coal rock detection equipment conveys to the rear portion drag conveyor, which performs spoil, to be known
Do not operate；The bastard coal sorting device performs separation to the spoil identified with throwing cash operation.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, before spoil type prejudges step,
Also include：
The geology detecting data of the top-coal caving face are obtained, top coal and top plate are obtained according to the geology detecting data
Lithology and distribution；
In spoil type prejudges step：Coal is put to top-coal caving face according to the lithology and distribution of the top coal and top plate
Spoil type is prejudged caused by process.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, it is determined that in device step, is also wrapped
Include：Choose the spray effect enhancing liquid matched with the coal rock detection method；
In separation step on the spot：Again by the bastard coal after being sprayed using spray effect enhancing liquid to bastard coal
Identification equipment performs spoil identification operation.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, is determined in recognition methods step：
When spoil type is white rocks, the coal rock detection method uses gray scale recognition methods；
Spoil type is black rocks, and rock density is more than 2t/m3When, the coal rock detection method is close using ray
Spend method of identification；
Spoil type is black rocks, and rock density is more than 1.6t/m3And it is less than or equal to 2t/m3When, the bastard coal
Recognition methods is using light reflection gray scale recognition methods.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, is determined in recognition methods step：
When spoil type is white rocks：The spray effect enhancing liquid selection emulsion；
When spoil type is black rocks：The spray effect enhancing liquid selection water.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, installed in equipment installation steps broken
Broken equipment, the disintegrating apparatus are located at before the coal rock detection equipment；
In separation step on the spot, bastard coal size is detected before bastard coal enters the coal rock detection equipment, if
The bastard coal size then starts the disintegrating apparatus more than given threshold and performs fragmentation procedure to the bastard coal.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, is determined in device step, according to bastard coal
The size that the size of identification equipment, the size of bastard coal sorting device, rear portion handpiece of scraper conveyer do not put coal determines coal rock detection
The quantity of equipment and bastard coal sorting device.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, the bastard coal sorting device include by
The mechanical arm and mechanical gripper of Serve Motor Control, the mechanical arm drive the mechanical gripper crawl spoil and by spoils
Throwing.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, machine described in the Serve Motor Control
The grasp speed of the translational speed of tool arm and the mechanical gripper is adapted with the recognition speed of the coal rock detection equipment.
Alternatively, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, in equipment installation steps, the bastard coal
When the quantity of identification equipment is more than 1, selected section coal rock detection equipment is directly arranged at the rear portion handpiece of scraper conveyer not
The opening position of coal is put, remaining coal rock detection equipment is arranged on the mechanical arm；
On the spot in separation step, the coal rock detection for being arranged at the opening position that the rear portion handpiece of scraper conveyer does not put coal is set
It is standby that preliminary spoil identification operation is performed to bastard coal；The coal rock detection equipment being arranged on the mechanical arm performs secondary to bastard coal
Spoil identification operation；The spoil determined afterwards through the identification operation of spoil twice is by mechanical gripper crawl and throwing.
Above-mentioned technical proposal provided by the invention, compared with prior art, at least have the advantages that：By reasonable
The issuable spoil type of top-coal caving face is analyzed, chooses rational coal rock detection method, supporting bastard coal automatic sorting system
System, spoil caused by coal process is put to top-coal caving face and carries out automatic sorting and throws on the spot to goaf, does not increase production
The complexity of system, it is not necessary to the chamber in the newly-built similar coal washery in underground, belong to the watershed management of gangue, improve transport system
The conevying efficiency of system.In addition, throwing the spoil after automatic sorting to goaf in such scheme, top-coal caving face is made full use of
The features such as end portion easily hangs top, and support back space is big, and the spoil amount that can be accommodated is big, saves special filling system,
Normal propulsion that will not be to working face produces interference, is advantageous to quickly propelling for working face.
Brief description of the drawings
Fig. 1 is the flow chart of the automatic sorting method on the spot of top-coal caving face bastard coal described in one embodiment of the invention；
Fig. 2 is a kind of automatic sorting apparatus arrangement signal of top-coal caving face bastard coal of present invention automatic sorting method on the spot
Figure.
Embodiment
The embodiment of the present invention is further illustrated below in conjunction with accompanying drawing.In the description of the invention, it is necessary to which explanation, is removed
Non- separately to have clearly regulation and limit, term " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixed company
Connect or be detachably connected, or be integrally connected；Can be mechanical connection or electrical connection；It can be direct phase
Even, it can also be indirectly connected by intermediary, can be the connection of two component internals.For the ordinary skill people of this area
For member, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Term " first " herein, " second ", " the 3rd " etc. are used between similar key element be distinguished, and differ
Surely it is the specific order of description or order temporally.It is appreciated that these terms so used are under appropriate environment
It is interchangeable so that the implementation of theme described here be, for example, can with the different order of the order illustrated from those or with
Other order described here is operated.
Embodiment 1
The present embodiment provides a kind of top-coal caving face bastard coal automatic sorting method on the spot, as shown in figure 1, including following step
Suddenly：
S1：Spoil type prejudges step：Spoil type caused by coal process is put to top-coal caving face to prejudge, according to
Anticipation result determines spoil type；Specifically, the geology detecting data of the top-coal caving face can be first obtained, according to described
Geology detecting data obtain lithology and the distribution of top coal and top plate；For example, the parameter such as the species of spoil, density of spoil.Geology
Detection data is before working face is formed with regard to being surveyed to obtain via the staff of relevant departments.Afterwards according to the top
The lithology and distribution of coal and top plate are put spoil type caused by coal process to top-coal caving face and prejudged.Wherein, spoil class
Type includes white rocks and black rocks, for example white siltstone of white rocks, black rocks such as black oil shale, black
Color oil shale and white siltstone alternating layers and black Sandy Silt etc..
S2：Determine recognition methods step：Choose the coal rock detection method with the spoil type matching；Wherein, spoil class
Type is black rocks, and rock density is more than 2t/m3When (larger with the density difference of coal), the coal rock detection method adopts
With radiographic density method of identification；Spoil type is black rocks, and rock density is more than 1.6t/m3And it is less than or equal to 2t/m3When
(i.e. little with the density difference of coal), the coal rock detection method is using light reflection gray scale recognition methods.If spoil is mutual
Layer, then can carry out integrating identification using two kinds of recognition methods to spoil.
S3：Determine device step：Choose the coal rock detection equipment matched with the coal rock detection method and bastard coal sorting is set
It is standby；
S4：Equipment installation steps：As shown in Fig. 2 the coal rock detection equipment and the bastard coal sorting device are arranged at
Top-coal caving face rear portion handpiece of scraper conveyer does not put the opening position of coal.Specifically, the number of the coal rock detection equipment
When amount is more than 1, selected section coal rock detection equipment is directly arranged at the opening position that the rear portion handpiece of scraper conveyer does not put coal,
Remaining coal rock detection equipment is arranged on the mechanical arm.
S5：Separation step on the spot：The bastard coal that the coal rock detection equipment conveys to the rear portion drag conveyor performs cash
Stone identification operation；The bastard coal sorting device performs separation to the spoil identified with throwing cash operation.It can make described in being arranged at
The coal rock detection equipment that rear portion handpiece of scraper conveyer does not put the opening position of coal performs preliminary spoil identification operation to bastard coal；Set
Secondary spoil identification operation is performed to bastard coal in the coal rock detection equipment on the mechanical arm；Through the identification operation of spoil twice
The spoil determined afterwards is by mechanical gripper crawl and throwing.
In such scheme, by the issuable spoil type of reasonable analysis top-coal caving face, rational bastard coal is chosen
Recognition methods, supporting bastard coal Automated Sorting System, top-coal caving face is put caused by coal process spoil carry out automatic sorting with
Throwing on the spot to goaf, does not increase the complexity of production system, it is not necessary to the chamber in the newly-built similar coal washery in underground, belongs to coal
The watershed management of spoil, improve the conevying efficiency of transportation system.In addition, in such scheme by the spoil after automatic sorting throw to
Goaf, top-coal caving face end portion is made full use of easily to hang top, support back space is big, and the spoil amount that can be accommodated is big
The features such as, special filling system is saved, normal propulsion that will not be to working face produces interference, is advantageous to the quick of working face and pushes away
Enter.
As a kind of preferable implementation, it is determined that in recognition methods step S2：When spoil type is white rocks：
The spray effect enhancing liquid selection emulsion；When spoil type is black rocks：The spray effect enhancing liquid selection water.
It is determined that in device step S3, in addition to：Choose the spray effect enhancing liquid matched with the coal rock detection method；Dividing on the spot
Pick in step S4：Cash is performed by the coal rock detection equipment again after being sprayed using spray effect enhancing liquid to bastard coal
Stone identification operation.The purpose of spray effect enhancing liquid is on the one hand to remove surface floating dust, on the other hand can strengthen spoil
Recognition effect.
Such scheme is described in detail by taking several different spoil types as an example below.
Example 1：
Certain ore deposit Caving Roof Coal Mining Face plate spoil is defined as white siltstone by analysis, is made by analysis using emulsion
Strengthen liquid for spray effect, bastard coal differentiation problem can be solved by knowing method for distinguishing using gray scale, determine rear portion drag conveyor type
Number it is SGZ1000/2 × 1000, scraper plate width is 1000mm, totally 9 sets of coal rock detection equipment, totally 5 sets of bastard coal sorting device, wherein
4 sets of coal rock detection equipment are fixed on handpiece of scraper conveyer, and 5 sets of coal rock detection equipment are fixed on bastard coal sorting device 4, to institute
After carrying out Matching and selection from equipment, it is installed at the handpiece of scraper conveyer of working face rear portion, shifts to an earlier date when working face normally produces
Open the set system.
As shown in Fig. 2 motor 5 drives drag conveyor operating, working face puts coal stream caused by coal process and first passes around dress
2 parts put, now strengthening the spray effect of liquid flusher 7 by effect strengthens liquid, on the one hand removes surface float coal, on the other hand
Strengthen recognition effect；Coal stream reaches 3 regions of device afterwards, installs 4 sets of coal rock detection equipment 6 in the region, is taken the photograph using black light
The mode of camera+thermal camera combination carries out coal rock detection, black light camera system real-time grasp shoot coal stream picture, carries out background
Filtering is dry with removing, and by colour gamut where itself gray proces identification of function spoil and distribution characteristics, is determined according to experimental determination
Rational gray threshold, the judgement more than gray threshold are spoil, carry out preliminary judgement, and infrared camera system utilizes bastard coal temperature
Degree difference characteristic carries out review confirmation, and temperature difference feature, by dual confirmation, determines spoil according to field measurement threshold value
Along the right position in coal stream direction, system processing time is controlled within 100ms, afterwards, by bastard coal sorting device
Coal rock detection spoil is further confirmed that, when the part for being defined as spoil after secondary-confirmation is grabbed by sorting device
Take, and throw cash to goaf.Coal rock detection is controlled with sorting device by high-precision servo control system, and control accuracy reaches ±
5mm, sorting device uses full free degree manipulator arm and mechanical gripper, after coal rock detection equipment confirms to spoil, by dividing
Pick equipment directly to capture, and throw to goaf.
Example 2：
Certain ore deposit Caving Roof Coal Mining Face plate spoil is defined as grey black oil shale, density 2.0t/m3, through undue by analysis
Analysis strengthens liquid using water as spray effect, and bastard coal differentiation problem can be solved by knowing method for distinguishing using radiographic density, it is determined that after
Portion drag conveyor model SGZ800/2 × 525, scraper plate width are 800mm, and totally 8 sets of coal rock detection equipment, bastard coal sorting are set
Standby totally 4 sets, wherein 4 sets of coal rock detection equipment are fixed on handpiece of scraper conveyer, 4 sets of coal rock detection equipment are fixed on bastard coal sorting
In equipment, after carrying out Matching and selection to selected equipment, it is installed at the handpiece of scraper conveyer of working face rear portion, working face is normal
The set system is opened during production in advance.
As shown in Fig. 2 working face puts 2 parts that coal stream caused by coal process first passes around device, now spray effect increases
Strong liquid, surface float coal is on the one hand removed, on the other hand strengthens recognition effect；Coal stream reaches 3 regions of device afterwards, in the region
4 sets of coal rock detection equipment are installed, is known using gamma-rays density and carries out coal rock detection otherwise, gamma-rays passes through measured medium
When, a portion ray is absorbed by medium scatters, and remainder ray is installed in the array detection of drag conveyor bottom
Device is received, Absorption of Medium how many ray, density exponentially absorbing rule with measured medium, is passed through laboratory test and is combined
Spoil sampling density test result determines rational threshold value, and the judgement more than threshold value is spoil, determines spoil along coal stream direction
Right position, system processing time are controlled within 100ms.Afterwards, by the coal rock detection pair on bastard coal sorting device
Spoil further confirms that, when the part for being defined as spoil after secondary-confirmation is captured by sorting device, and throws cash to adopting
Dead zone.Coal rock detection is controlled with sorting device by high-precision servo control system, and control accuracy reaches ± 5mm, and sorting device is adopted
With full free degree manipulator arm and mechanical gripper, after coal rock detection equipment confirms to spoil, directly captured by sorting device,
And throw to goaf.
Example 3：
On the basis of example 1, because white siltstone easily forms bulk, it is not easy to throw to mined out after sorting device crawl
Area, before the part of device 2, breaker can be matched, breaker is selected dedicated for crushing the device of bulk bastard coal.
Example 4：
Certain ore deposit Caving Roof Coal Mining Face plate spoil is defined as grey black oil shale and white siltstone alternating layers by analysis, its
Middle grey black oil shale density 2.0t/m3, white siltstone density 2.5t/m3, imitated by analysis using emulsion as sprinkling
Fruit strengthen liquid, using radiographic density identify based on, gray scale identification supplemented by method can solve bastard coal distinguish problem, determine rear portion
Drag conveyor model SGZ900/2 × 525, scraper plate width are 900mm, totally 9 sets of coal rock detection equipment, bastard coal sorting device
Totally 5 sets, wherein 4 sets of coal rock detection equipment are fixed on handpiece of scraper conveyer, 5 sets of coal rock detection equipment are fixed on bastard coal sorting and set
It is standby upper, after carrying out Matching and selection to selected equipment, it is installed at the handpiece of scraper conveyer of working face rear portion, working face is normally given birth to
The set system is opened during production in advance.Because white siltstone easily forms bulk, it is not easy to throw to goaf after sorting device crawl,
Before the part of device 2, addi-tional crusher device is matched, addi-tional crusher device is selected dedicated for crushing the device of bulk bastard coal.
As shown in Fig. 2 working face puts 2 parts that coal stream caused by coal process first passes around device, now spray effect increases
Strong liquid, surface float coal is on the one hand removed, on the other hand strengthens recognition effect；Coal stream reaches 3 regions of device afterwards, in the region
Install 4 sets fixed coal rock detection equipment, using gamma-rays density identify based on, black light camera identify supplemented by by the way of carry out coal
Cash identifies that when gamma-rays passes through measured medium, a portion ray is absorbed by medium scatters, and remainder ray is installed in
The detector array of drag conveyor bottom is received, Absorption of Medium how many ray, is inhaled with the density exponentially of measured medium
Rule is received, is tested by laboratory and determines rational threshold value with reference to spoil sampling density test result, the judgement more than threshold value is
Spoil, the black light camera system real-time grasp shoot coal stream picture of gray scale identifying system, progress filtering background is dry with removing, and passes through itself
Colour gamut and distribution characteristics, determine rational gray threshold according to experimental determination, exceed where gray proces identification of function spoil
The judgement of gray threshold is spoil, by dual judgement, right position of the spoil along coal stream direction is determined, afterwards, by mobile coal
Cash identifies carries out spoil confirmation and crawl with sorting device, and throws cash to goaf.Mobile coal rock detection is with sorting device by height
Precision servo-control system controls, and control accuracy reaches ± 5mm, moves coal rock detection herein and uses and fixed coal rock detection equipment
Similarly configure, sorting device uses full free degree manipulator arm and mechanical gripper, and mobile bastard coal identification equipment carries out true to spoil
After recognizing, directly captured, and thrown to goaf by sorting device.
Example 5：
Certain ore deposit Caving Roof Coal Mining Face plate spoil is defined as grey black Sandy Silt by analysis, density 1.8t/m3, passes through
Analysis strengthens liquid using water as spray effect, and can solve bastard coal using light reflection gray scale recognition methods distinguishes problem, really
Determine rear portion drag conveyor model SGZ1200/2 × 1000, scraper plate width is 1200mm, and fixed coal rock detection equipment uses 4
Place, mobile coal rock detection use 5 sets with sorting device, after carrying out Matching and selection to selected equipment, are installed on working face rear portion
The set system is opened at handpiece of scraper conveyer, when working face normally produces in advance.
As shown in figure 1, working face puts 2 parts that coal stream caused by coal process first passes around device, now spray effect increases
Strong liquid, surface float coal is on the one hand removed, on the other hand strengthens recognition effect；Coal stream reaches 3 regions of device afterwards, in the region
4 sets of fixed coal rock detection equipment are installed, often locates coal rock detection equipment and is respectively mounted anti-explosion LED lamps, using light reflection gray scale identification
Method carries out coal rock detection, and the camera chain real-time grasp shoot coal stream picture of gray scale identifying system, progress filtering background is dry with removing,
By colour gamut where itself gray proces identification of function spoil and distribution characteristics, rational gray scale threshold is determined according to experimental determination
Value, the judgement more than gray threshold is spoil, determines right position of the spoil along coal stream direction, afterwards, by mobile coal rock detection
Spoil is carried out with sorting device to confirm with capturing, and throws cash to goaf.Mobile coal rock detection is with sorting device by watching in high precision
Control system control is taken, control accuracy reaches ± 5mm, moves coal rock detection herein and uses and fixed coal rock detection equipment is identical matches somebody with somebody
Put, after sorting device uses full free degree manipulator arm and mechanical gripper, mobile bastard coal identification equipment to confirm spoil, by
Sorting device directly captures, and throws to goaf.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of top-coal caving face bastard coal automatic sorting method on the spot, it is characterised in that comprise the following steps：
Spoil type prejudges step：Spoil type caused by coal process is put to top-coal caving face to prejudge, and is tied according to anticipation
Fruit determines spoil type；
Determine recognition methods step：Choose the coal rock detection method with the spoil type matching；
Determine device step：Choose the coal rock detection equipment matched with the coal rock detection method and bastard coal sorting device；
Equipment installation steps：After the coal rock detection equipment and the bastard coal sorting device are arranged at into the top-coal caving face
Portion's handpiece of scraper conveyer does not put the opening position of coal；
Separation step on the spot：The bastard coal that the coal rock detection equipment conveys to the rear portion drag conveyor performs spoil identification behaviour
Make；The bastard coal sorting device performs separation to the spoil identified with throwing cash operation.
2. top-coal caving face bastard coal according to claim 1 automatic sorting method on the spot, it is characterised in that in spoil class
Before type anticipation step, in addition to：
The geology detecting data of the top-coal caving face are obtained, the rock of top coal and top plate is obtained according to the geology detecting data
Property and distribution；
In spoil type prejudges step：Coal process is put to top-coal caving face according to the lithology and distribution of the top coal and top plate
Caused spoil type is prejudged.
3. top-coal caving face bastard coal according to claim 1 automatic sorting method on the spot, it is characterised in that：
It is determined that in device step, in addition to：Choose the spray effect enhancing liquid matched with the coal rock detection method；
In separation step on the spot：Again by the coal rock detection after being sprayed using spray effect enhancing liquid to bastard coal
Equipment performs spoil identification operation.
4. top-coal caving face bastard coal according to claim 1 automatic sorting method on the spot, it is characterised in that it is determined that identification
In method and step：
When spoil type is white rocks, the coal rock detection method uses gray scale recognition methods；
Spoil type is black rocks, and rock density is more than 2t/m3When, the coal rock detection method is known using radiographic density
Other method；
Spoil type is black rocks, and rock density is more than 1.6t/m3And it is less than or equal to 2t/m3When, the coal rock detection
Method is using light reflection gray scale recognition methods.
5. top-coal caving face bastard coal according to claim 3 automatic sorting method on the spot, it is characterised in that it is determined that identification
In method and step：
When spoil type is white rocks：The spray effect enhancing liquid selection emulsion；
When spoil type is black rocks：The spray effect enhancing liquid selection water.
6. top-coal caving face bastard coal according to claim 1 automatic sorting method on the spot, it is characterised in that：
Disintegrating apparatus is installed in equipment installation steps, the disintegrating apparatus is located at before the coal rock detection equipment；
In separation step on the spot, bastard coal size is detected before bastard coal enters the coal rock detection equipment, if described
Bastard coal size then starts the disintegrating apparatus more than given threshold and performs fragmentation procedure to the bastard coal.
7. top-coal caving face bastard coal according to claim any one of 1-6 automatic sorting method on the spot, it is characterised in that：
Determine in device step, according to the size of coal rock detection equipment, the size of bastard coal sorting device, rear portion drag conveyor machine
The size that head does not put coal determines coal rock detection equipment and the quantity of bastard coal sorting device.
8. top-coal caving face bastard coal according to claim 7 automatic sorting method on the spot, it is characterised in that：
The bastard coal sorting device includes the mechanical arm and mechanical gripper by Serve Motor Control, and the mechanical arm drives institute
State mechanical gripper crawl spoil and by spoil throwing.
9. top-coal caving face bastard coal according to claim 8 automatic sorting method on the spot, it is characterised in that：
The grasp speed of the translational speed of mechanical arm and the mechanical gripper described in the Serve Motor Control and the bastard coal
The recognition speed of identification equipment is adapted.
10. top-coal caving face bastard coal according to claim 9 automatic sorting method on the spot, it is characterised in that：
In equipment installation steps, when the quantity of the coal rock detection equipment is more than 1, selected section coal rock detection equipment is directly set
The opening position of coal is not put in the rear portion handpiece of scraper conveyer, and remaining coal rock detection equipment is arranged on the mechanical arm；
On the spot in separation step, the coal rock detection equipment pair that the rear portion handpiece of scraper conveyer does not put the opening position of coal is arranged at
Bastard coal performs preliminary spoil identification operation；The coal rock detection equipment being arranged on the mechanical arm performs secondary spoil to bastard coal
Identification operation；The spoil determined afterwards through the identification operation of spoil twice is by mechanical gripper crawl and throwing.
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Address after: No.131, ground floor, Tiandi building, No.5, qingniangou East Road, Hepingli, Chaoyang District, Beijing 100013 Patentee after: TIANDI SCIENCE & TECHNOLOGY Co.,Ltd. Patentee after: CCTEG Beijing Tianma Intelligent Control Technology Co.,Ltd. Patentee after: BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. Address before: No.131, ground floor, Tiandi building, No.5, qingniangou East Road, Hepingli, Chaoyang District, Beijing 100013 Patentee before: TIANDI SCIENCE & TECHNOLOGY Co.,Ltd. Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Patentee before: BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. |