CN107824477B - 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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- CN107824477B CN107824477B CN201711058999.5A CN201711058999A CN107824477B CN 107824477 B CN107824477 B CN 107824477B CN 201711058999 A CN201711058999 A CN 201711058999A CN 107824477 B CN107824477 B CN 107824477B
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- 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
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- 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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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, mating bastard coal Automated Sorting System, the spoil that the generation of coal process is put to top-coal caving face carries out automatic sorting and throws 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, the watershed management for belonging to gangue improves the conevying efficiency of transportation system.In addition, the spoil after automatic sorting is thrown to goaf in said program, top-coal caving face end portion is made full use of to be easy outstanding top, holder back space is big, the features such as spoil amount that can be accommodated is big, special filling system is saved, interference will not be generated to the normal propulsion of working face, be conducive to quickly propelling for working face.
Description
Technical field
The present invention relates to mine automation production technique fields, and in particular to a kind of top-coal caving face bastard coal is automatic on the spot
Method for sorting.
Background technology
Being widely used for top-coal caving face is general, and it is that top-coal caving face is different from common fully-mechanized mining working to put coal process
Important feature.It puts coal work to rely on mine pressure pressure and be crushed top coal, coal is put or electro-hydraulic control puts coal, top coal body using artificial
It is inevitably mixed into part spoil during anti-fall.If thinking that this part spoil is avoided to go out working face completely, top coal can be influenced
The rate of recovery, economic benefit reduce, while also not meeting 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 output 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, be equivalent to and waste 100-
2000000 tons of coals, cause great energy waste and economic loss.
Invention content
The present invention provides a kind of top-coal caving face bastard coal automatic sorting methods on the spot, can be effective on the spot in underground
The spoil that top-coal caving face puts the generation of coal process is solved, no longer needs to discharge it outside well, reduces bastard coal processing cost warp
Ji loss.
For this purpose, the present invention provides a kind of top-coal caving face bastard coal automatic sorting method on the spot, include the following steps：
Spoil type prejudges step：The spoil type that the generation of coal process is put to top-coal caving face prejudges, according to pre-
Sentence result and determines spoil type；
Determine recognition methods step：Choose the coal rock detection method with the spoil type matching；
Determine device step：It chooses and the matched coal rock detection equipment of 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 set to the Sub-Level Caving work
Face rear portion handpiece of scraper conveyer is not put at the position of coal；
Separation step on the spot：The coal rock detection equipment executes spoil to the bastard coal that the rear portion drag conveyor conveys and knows
It does not operate；The bastard coal sorting device executes separation to the spoil identified and throws cash operation.
Optionally, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, before spoil type prejudges step,
Further include：
The geology detecting data for obtaining the top-coal caving face obtain top coal and top plate 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
The spoil type that process generates is prejudged.
Optionally, automatic sorting method also wraps above-mentioned top-coal caving face bastard coal in determining device step on the spot
It includes：It chooses and the matched spray effect enhancement solution of the coal rock detection method；
In separation step on the spot：Again by the bastard coal after being sprayed to bastard coal using the spray effect enhancement solution
Identification equipment executes spoil identification operation.
Optionally, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, determines 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 reflects gray scale recognition methods using light.
Optionally, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, determines in recognition methods step：
When spoil type is white rocks：The spray effect enhancement solution selects emulsion；
When spoil type is black rocks：The spray effect enhancement solution selects water.
Optionally, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot is installed broken in equipment installation steps
Broken equipment, the crushing plant 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 crushing plant more than given threshold and executes fragmentation procedure to the bastard coal.
Optionally, above-mentioned top-coal caving face bastard coal automatic sorting method on the spot, determines 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.
Optionally, 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.
Optionally, 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 movement speed of tool arm and the mechanical gripper is adapted with the recognition speed of the coal rock detection equipment.
Optionally, 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
It puts at the position of coal, remaining coal rock detection equipment is set on the mechanical arm；
On the spot in separation step, it is set to the coal rock detection that the rear portion handpiece of scraper conveyer is not put at the position of coal and sets
It is standby that preliminary spoil identification operation is executed to bastard coal；The coal rock detection equipment being set on the mechanical arm executes bastard coal secondary
Spoil identification operation；Through the identification of spoil twice operation spoil determining later by mechanical gripper crawl and throwing.
Above-mentioned technical proposal provided by the invention at least has the advantages that compared with prior art：By reasonable
The issuable spoil type of top-coal caving face is analyzed, rational coal rock detection method, mating bastard coal automatic sorting system are chosen
System, the spoil that the generation of coal process is put to top-coal caving face carry out automatic sorting and throw on the spot to goaf, do not increase production
The complexity of system, it is not necessary to which the chamber in the newly-built similar coal washery in underground belongs to the watershed management of gangue, improves transport system
The conevying efficiency of system.In addition, throwing the spoil after automatic sorting to goaf in said program, top-coal caving face is made full use of
The features such as end portion is easy outstanding top, and holder back space is big, and the spoil amount that can be accommodated is big, saves special filling system,
Interference will not be generated to the normal propulsion of working face, be conducive to quickly propelling for working face.
Description of the drawings
Fig. 1 is the flow chart of top-coal caving face bastard coal automatic sorting method on the spot 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.
Specific implementation mode
Embodiment is further illustrated the present invention below in conjunction with attached drawing.In the description of the present invention, it should be noted that remove
Non- separately to have specific regulation and limit, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixed company
It connects, may be a detachable connection, or be integrally connected；It can be mechanical connection, can also be electrical connection；It can be direct phase
Even, can also can be indirectly connected through an intermediary the connection of two component internals.For the ordinary skill people of this field
For member, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Term " first " herein, " second ", " third " etc. differ for being distinguished between similar element
Surely it is the specific order of description or sequence temporally.It is appreciated that these terms used in this way 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 methods on the spot, as shown in Figure 1, including following step
Suddenly：
S1：Spoil type prejudges step：The spoil type that the generation of coal process is put to top-coal caving face prejudges, according to
Anticipation result determines spoil type；Specifically, the geology detecting data that can first obtain the top-coal caving face, according to described
Geology detecting data obtain lithology and the distribution of top coal and top plate；For example, the parameters such as the type of spoil, density of spoil.Geology
Detection data is before forming working face with regard to being surveyed to obtain via the staff of relevant departments.Later according to the top
The spoil type that the lithology and distribution of coal and top plate put top-coal caving face the generation of coal process prejudges.Wherein, spoil class
Type includes white rocks and black rocks, such as 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 reflect gray scale recognition methods using light.If spoil is mutual
Layer then may be used two kinds of recognition methods and carry out comprehensive identification to spoil.
S3：Determine device step：It chooses and is set with the matched coal rock detection equipment of the coal rock detection method and bastard coal sorting
It is standby；
S4：Equipment installation steps：As shown in Fig. 2, the coal rock detection equipment and the bastard coal sorting device are set to
Top-coal caving face rear portion handpiece of scraper conveyer is not put at the 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 rear portion handpiece of scraper conveyer and does not put at the position of coal,
Remaining coal rock detection equipment is set on the mechanical arm.
S5：Separation step on the spot：The coal rock detection equipment executes cash to the bastard coal that the rear portion drag conveyor conveys
Stone identification operation；The bastard coal sorting device executes separation to the spoil identified and throws cash operation.It can enable described in being set to
Rear portion handpiece of scraper conveyer does not put the coal rock detection equipment at the position of coal and executes preliminary spoil identification operation to bastard coal；Setting
Secondary spoil identification operation is executed to bastard coal in the coal rock detection equipment on the mechanical arm；Operation is identified through spoil twice
Determining spoil is by mechanical gripper crawl and throwing afterwards.
In said program, by the issuable spoil type of reasonable analysis top-coal caving face, rational bastard coal is chosen
Recognition methods, mating bastard coal Automated Sorting System, to top-coal caving face put coal process generation spoil carry out automatic sorting with
It is thrown on the spot to goaf, does not increase the complexity of production system, it is not necessary to which the chamber in the newly-built similar coal washery in underground belongs to coal
The watershed management of spoil improves the conevying efficiency of transportation system.In addition, in said program by the spoil after automatic sorting throw to
Goaf makes full use of top-coal caving face end portion to be easy outstanding top, and holder back space is big, and the spoil amount that can be accommodated is big
The features such as, special filling system is saved, interference will not be generated to the normal propulsion of working face, be conducive to quickly pushing away for working face
Into.
Realization method as one preferred, in determining recognition methods step S2：When spoil type is white rocks：
The spray effect enhancement solution selects emulsion；When spoil type is black rocks：The spray effect enhancement solution selects water.
In determining device step S3, further include：It chooses and the matched spray effect enhancement solution of the coal rock detection method；Dividing on the spot
It picks in step S4：Cash is executed by the coal rock detection equipment again after being sprayed to bastard coal using the spray effect enhancement solution
Stone identification operation.The purpose of spray effect enhancement solution is on the one hand to remove surface floating dust, on the other hand can enhance spoil
Recognition effect.
Said program is described in detail by taking several different spoil types as an example below.
Example 1：
Certain mine Caving Roof Coal Mining Face plate spoil is determined as white siltstone by analysis, uses emulsion to make by analysis
For spray effect enhancement solution, knowing method for distinguishing using gray scale can solve the problems, such as that bastard coal is distinguished, and determine rear portion drag conveyor type
Number be SGZ1000/2 × 1000, scraper plate width be 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 selecting equipment to carry out Matching and selection, it is installed at the handpiece of scraper conveyer of working face rear portion, working face shifts to an earlier date during normal production
Open the set system.
As shown in Fig. 2, motor 5 drives drag conveyor operating, the coal stream that working face puts the generation of coal process to first pass around dress
On the one hand 2 parts set remove surface float coal, on the other hand at this time by 7 spray effect enhancement solution of effect enhancement solution flusher
Enhance recognition effect；Coal stream reaches 3 regions of device later, 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, and black light camera system real-time grasp shoot coal stream picture carries out background
Filtering, by itself gray proces identification of function spoil place colour gamut and distribution characteristics, is determined with except dry according to experimental determination
Rational gray threshold, the judgement for being 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 determines spoil according to field measurement threshold value by dual confirmation
Left and right position along coal stream direction, system processing time controls within 100ms, later, by being mounted on bastard coal sorting device
Coal rock detection spoil is further confirmed that, when the part for being determined as spoil after secondary-confirmation is grabbed by sorting device
It takes, and throws 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 spoil, by dividing
It picks equipment directly to capture, and throws to goaf.
Example 2：
Certain mine Caving Roof Coal Mining Face plate spoil is determined as grey black oil shale, density 2.0t/m3, through excessive by analysis
Analysis is using water as spray effect enhancement solution, and knowing method for distinguishing using radiographic density can solve the problems, such as that bastard coal is distinguished, after determining
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
Totally 4 sets standby, 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 when production in advance.
As shown in Fig. 2, working face puts 2 parts that the coal stream that coal process generates first passes around device, spray effect increases at this time
On the one hand strong liquid removes surface float coal, on the other hand enhances recognition effect；Coal stream reaches 3 regions of device later, in the region
4 sets of coal rock detection equipment are installed, coal rock detection are carried out using the knowledge of gamma-rays density 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, and Absorption of Medium how many ray, the density exponentially absorbing rule with measured medium are combined by laboratory test
Spoil sampling density test result determines rational threshold value, and the judgement for being more than threshold value is spoil, determines spoil along coal stream direction
Left and right position, system processing time control within 100ms.Later, by the coal rock detection pair on bastard coal sorting device
Spoil further confirms that, when the part for being determined 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 spoil, directly captured by sorting device,
And it throws to goaf.
Example 3：
On the basis of example 1, since white siltstone is easy to form bulk, it is not easy to throw to mined out after sorting device crawl
Area can match breaker before 2 part of device, and breaker is selected to be crushed the device of bulk bastard coal.
Example 4：
Certain mine Caving Roof Coal Mining Face plate spoil is determined as grey black oil shale and white siltstone alternating layers by analysis,
Middle grey black oil shale density 2.0t/m3, white siltstone density 2.5t/m3 use emulsion to be imitated as sprinkling by analysis
Fruit enhancement solution, using radiographic density identify based on, gray scale identification supplemented by method can solve the problems, such as bastard coal distinguish, 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 when production in advance.Since white siltstone is easy to form bulk, it is not easy to throw to goaf after sorting device crawl,
Before 2 part of device, addi-tional crusher device is matched, addi-tional crusher device is selected to be crushed the device of bulk bastard coal.
As shown in Fig. 2, working face puts 2 parts that the coal stream that coal process generates first passes around device, spray effect increases at this time
On the one hand strong liquid removes surface float coal, on the other hand enhances recognition effect；Coal stream reaches 3 regions of device later, 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, rational threshold value is determined by laboratory test combination 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, carry out filtering background with remove it is dry, pass through itself
Colour gamut and distribution characteristics, determine rational gray threshold according to experimental determination, are more than where gray proces identification of function spoil
The judgement of gray threshold is that spoil determines spoil along the left and right position in coal stream direction, later, by mobile coal by dual judgement
Cash is identified 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
Same configuration, sorting device use full free degree manipulator arm and mechanical gripper, mobile bastard coal identification equipment to be carried out to spoil true
It after recognizing, is directly captured, and is thrown to goaf by sorting device.
Example 5：
Certain mine Caving Roof Coal Mining Face plate spoil is determined as grey black Sandy Silt by analysis, and density 1.8t/m3 passes through
Analysis, as spray effect enhancement solution, can solve the problems, such as that bastard coal is distinguished, really using water using light reflection gray scale recognition methods
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
At handpiece of scraper conveyer, working face opens the set system in advance during normal production.
As shown in Figure 1, working face puts 2 parts that the coal stream that coal process generates first passes around device, spray effect increases at this time
On the one hand strong liquid removes surface float coal, on the other hand enhances recognition effect；Coal stream reaches 3 regions of device later, 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 carry out coal rock detection, the camera chain real-time grasp shoot coal stream picture of gray scale identifying system, carry out filtering background with remove it is dry,
By colour gamut and distribution characteristics where itself gray proces identification of function spoil, rational gray scale threshold is determined according to experimental determination
Value, the judgement for being more than gray threshold is spoil, determines spoil along the left and right position in coal stream direction, later, by mobile coal rock detection
Spoil confirmation and crawl are carried out with sorting device, 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
It sets, 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
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of top-coal caving face bastard coal automatic sorting method on the spot, which is characterized in that include the following steps：
Spoil type prejudges step：The spoil type that the generation of coal process is put to top-coal caving face prejudges, 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；Spoil type is white group rock
Shi Shi, the coal rock detection method use gray scale recognition methods；Spoil type is black rocks, and rock density is more than 2t/
m3When, the coal rock detection method uses 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, the coal rock detection method reflects gray scale recognition methods using light；
Determine device step：It chooses and the matched coal rock detection equipment of 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 set to the top-coal caving face
Portion's handpiece of scraper conveyer is not put at the position of coal；
Separation step on the spot：The coal rock detection equipment executes spoil identification behaviour to the bastard coal that the rear portion drag conveyor conveys
Make；The bastard coal sorting device executes separation to the spoil identified and throws cash operation.
2. top-coal caving face bastard coal according to claim 1 automatic sorting method on the spot, which is characterized in that in spoil class
Before type prejudges step, further include：
The geology detecting data for obtaining the top-coal caving face obtain the rock of top coal and top plate 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
The spoil type of generation is prejudged.
3. top-coal caving face bastard coal according to claim 1 automatic sorting method on the spot, it is characterised in that：
In determining device step, further include：It chooses and the matched spray effect enhancement solution of the coal rock detection method；
In separation step on the spot：Again by the coal rock detection after being sprayed to bastard coal using the spray effect enhancement solution
Equipment executes spoil identification operation.
4. top-coal caving face bastard coal according to claim 3 automatic sorting method on the spot, which is characterized in that determine identification
In method and step：
When spoil type is white rocks：The spray effect enhancement solution selects emulsion；
When spoil type is black rocks：The spray effect enhancement solution selects water.
5. top-coal caving face bastard coal according to claim 1 automatic sorting method on the spot, it is characterised in that：
Crushing plant is installed in equipment installation steps, the crushing plant 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 crushing plant more than given threshold and executes fragmentation procedure to the bastard coal.
6. according to claim 1-5 any one of them top-coal caving faces bastard coal automatic sorting method on the spot, it is characterised in that：
It determines 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 the quantity of coal rock detection equipment and bastard coal sorting device.
7. top-coal caving face bastard coal according to claim 6 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.
8. top-coal caving face bastard coal according to claim 7 automatic sorting method on the spot, it is characterised in that：
The grasp speed of the movement 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.
9. top-coal caving face bastard coal according to claim 8 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 arranged
It is not put at the position of coal in the rear portion handpiece of scraper conveyer, remaining coal rock detection equipment is set on the mechanical arm；
On the spot in separation step, it is set to the rear portion handpiece of scraper conveyer and does not put coal rock detection equipment pair at the position of coal
Bastard coal executes preliminary spoil identification operation；The coal rock detection equipment being set on the mechanical arm executes secondary spoil to bastard coal
Identification operation；Through the identification of spoil twice operation spoil determining later by mechanical gripper crawl and throwing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711058999.5A CN107824477B (en) | 2017-11-01 | 2017-11-01 | Top-coal caving face bastard coal automatic sorting method on the spot |
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| CN201711058999.5A CN107824477B (en) | 2017-11-01 | 2017-11-01 | Top-coal caving face bastard coal automatic sorting method on the spot |
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| CN107824477B true CN107824477B (en) | 2018-10-23 |
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| CN113731868B (en) * | 2021-08-26 | 2023-10-24 | 天地（常州）自动化股份有限公司 | Pusher dog for sorting coal gangue and gangue sorting method |
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