CN108722905A - Sorting system for gangue - Google Patents

Abstract

The invention discloses a kind of sorting systems for gangue, it includes frame, conveyer belt, buffering discharging unit, queued units, detection unit, robot placement unit, the conveyer belt is located on frame, and the buffering discharging unit, queued units, detection unit, robot placement unit are set gradually on a moving belt according to feedstock direction.The present invention has many advantages, such as that sorting index is high, sorting is at low cost, labor intensity is low, pollution-free, high degree of automation.

Description

Sorting system for coal gangue

technical field

The invention belongs to the technical field of coal gangue sorting, and in particular relates to a sorting system for coal gangue.

Background technique

Coal gangue sorting is a coal pre-combustion treatment technology, which is an indispensable link in coal mine production and one of the effective methods to improve coal quality.

At present, coal gangue sorting mainly includes wet separation method, dry separation method and manual sorting. Wet separation method mainly includes dense medium method and jigging method. The layered separation of coal and gangue, the method adopts huge equipment, complicated process, low sorting efficiency and pollution to the environment; dry separation method includes the use of roller crushing and the use of coal and gangue due to the different strengths of coal and gangue The light transmittance is different and dual-energy γ-ray transmission is used for identification and sorting. The former destroys the shape of the coal block, the sorting rate is poor, and the equipment is huge, while the latter is expensive, the sorting efficiency is low, and there is radiation; Gangue has the disadvantages of poor working environment, high labor intensity, easy mistaken selection or missing selection, etc.

Contents of the invention

In view of this, the main purpose of the present invention is to provide a sorting system for coal gangue.

In order to achieve the above object, technical solution of the present invention is achieved in that way:

An embodiment of the present invention provides a sorting system for coal gangue, which includes a frame, a conveyor belt, a buffer discharge unit, a queuing unit, a detection unit, and a robot grabbing unit, the conveyor belt is located on the frame, and the buffer discharge unit Units, queuing units, detection units, and robot grabbing units are sequentially arranged on the conveyor belt according to the feeding direction.

In the above solution, the buffer discharge unit includes a buffer storage hopper, a feeding drive cylinder, a material gate driving rocker arm, and several material gates, the buffer storage hopper is arranged obliquely, and the discharge end of the buffer storage hopper is provided with several A material gate, the feeding drive cylinder is located outside the buffer storage hopper and connected with the material gate driving rocker arm, and the material gate driving rocker arm is connected with several material gates to drive its movement.

In the above solution, the queuing unit includes several vertical queuing subunits and several horizontal queuing subunits, and the several vertical queuing subunits and several horizontal queuing subunits are arranged alternately.

In the above scheme, each lateral queuing subunit includes a support frame, an overturning arm, a lateral diverter, and a belt line driving drum. The support frame is horizontally arranged above the conveyor belt, and several overturn arms are arranged on the support frame. The arm is an L-shaped structure, and one side is connected with the support frame through a belt line driving the pulley, and the other side is provided with a transverse diverter.

In the above scheme, each longitudinal queuing subunit includes a support frame, an overturning arm, a longitudinal diverter, and a belt line driving drum. The arm has an L-shaped structure, and one side is connected to the supporting frame through a belt line drive roller, and a longitudinal diverter perpendicular to the conveyor belt is arranged on the other side; the longitudinal diverter is a rectangular baffle.

In the above solution, the transverse flow divider is a metal block with a triangular cross section.

In the above solution, the transverse flow dividers in adjacent transverse queuing subunits among the several transverse queuing subunits gradually decrease in cross-section along the feeding direction.

In the above solution, one end of each turning arm is movably connected to one side of the support frame through a turning pivot pin, and is also connected to the support frame through a height adjusting bolt.

In the above solution, the detection unit includes a visual capture device and a density detection device, and the visual capture device and the density detection device are respectively arranged on the upper and lower sides of the conveyor belt.

In the above scheme, the robot grasping unit is composed of several grasping manipulators, and several grasping manipulators grasp the non-coal substances in the coal gangue according to the detection results of the detection unit; each grasping manipulator includes grippers, dustproof The universal joint assembly and the jaw cylinder, the lower part of the dustproof universal joint assembly is connected with the jaw cylinder, and the jaw cylinder is connected with the jaws.

Compared with the prior art, the invention has the advantages of high sorting rate, low sorting cost, low labor intensity, no pollution, high degree of automation and the like.

Description of drawings

Fig. 1 is a schematic structural diagram of a sorting system for coal gangue provided by an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a robot grabbing unit in a sorting system for coal gangue provided by an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

An embodiment of the present invention provides a sorting system for coal gangue, as shown in Figure 1, which includes a frame 1, a conveyor belt 2, a buffer discharge unit 3, a queuing unit 4, a detection unit 5, and a robot grabbing unit 6, The conveyor belt 2 is located on the frame 1, and the buffer discharge unit 3, queuing unit 4, detection unit 5, and robot grabbing unit 6 are sequentially arranged on the conveyor belt 2 according to the feeding direction; thus, coal gangue passes through the buffer discharge unit 3 Slowly feed the material to the conveyor belt 2, and then arrange and sort the coal gangue on the conveyor belt 2 through the queuing unit 4. The sorted coal gangue is detected by the detection unit 5 to determine the non-coal substances in the coal gangue. After that, when the coal gangue When passing through the robot grabbing unit 6, the robot grabbing unit 6 grabs the non-coal materials therein to complete the sorting, and finally, the sorted coal gangue is discharged from the conveyor belt 2.

The buffer discharge unit 3 includes a buffer storage hopper 31, a feeding drive cylinder 32, a material gate driving rocker arm 33, and several material gates 34. The buffer storage hopper 31 is arranged obliquely, and the discharge of the buffer storage hopper 31 Several material gates 34 are arranged at the end, and the feeding drive cylinder 32 is located on the outside of the buffer storage hopper 3 and is connected with the material gate driving rocker arm 33, and the material gate driving rocker arm 33 is connected with several material gates 34 to drive its movement In this way, the buffer discharge unit 3 can solve the problem of blockage and impact caused by the instability of the incoming material and the frequent and frequent occasions; the buffer discharge unit 3 can make the material flow to At the end, there are several material gates 34 at the end, and the material gates 34 are driven by the feeding drive cylinder 32 to drive the material gate to drive the rocker arm 33 to realize uniform and controllable feeding.

The queuing unit 4 includes several vertical queuing subunits and several horizontal queuing subunits, and the several vertical queuing subunits and several horizontal queuing subunits are arranged alternately.

Each lateral queuing subunit comprises a support frame 41, a turning arm 42, a transverse diverter 43, and a belt line driving drum 44, and the support frame 41 is horizontally arranged above the conveyor belt 2, and several turning arms 42 are arranged on the support frame 41 , each turning arm 42 is an L-shaped structure, and one side is connected to the support frame 41 through a belt line driving pulley 44, and a transverse diverter 43 is provided on the other side.

Each longitudinal queuing subunit includes a support frame 41, a turning arm 42, a longitudinal divider 46, and a belt line driving drum 44. The support frame 41 is horizontally arranged above the conveyor belt 2, and several turning arms 42 are arranged on the support frame 41. , each flipping arm 42 is an L-shaped structure and one side is connected with the support frame 41 through the belt line driving drum 44, and the longitudinal divider 46 perpendicular to the conveyor belt 2 is arranged on the other side; the longitudinal divider 46 is a rectangular baffle .

The transverse divider 43 is a metal block with a triangular cross section.

The transverse flow divider 43 in the adjacent transverse queuing subunits among the several transverse queuing subunits gradually decreases in cross section along the feeding direction.

One end of each turning arm 42 is movably connected to one side of the support frame 41 through a turning pivot pin 44 , and is also connected to the support frame 41 through a height adjusting bolt 45 .

As shown in Figure 1, the longitudinal queuing subunit is located at the feeding place. In this way, the longitudinal queuing subunit repeatedly drags the coal blocks to achieve a longitudinal distance, and then the horizontal queuing subunit separates the large and small coal blocks horizontally. Here, the longitudinal It refers to the direction along the conveyor belt 2.

After the large and small coal blocks on the conveyor belt 2 pass through the longitudinal divider 46, there is a distance between the large and small coal blocks in the longitudinal direction, and they are sequentially transmitted to the horizontal queuing subunits.

The large and small coal blocks on the conveyor belt 2 collide with the coal blocks left and right through the transverse flow divider 43, first pass through the large-size transverse flow divider 43 to divert the small coal pieces to the designated position, and then pass through the medium-size transverse flow divider 43 to displace the medium-sized coal The block flows back to the designated position, and the large coal block is introduced into the designated position through the small-sized horizontal flow divider 43, so that all coal blocks of various sizes are introduced into 1, 2, 3, 4, 5 or more designated positions on the center line, and when a blockage occurs and passes by forcefully, the transverse flow divider 43 can be pushed backward and upward to avoid accidental mechanical accidents.

The detection unit 5 includes a visual capture device 51 and a density detection device 52 , and the visual capture device 51 and the density detection device 52 are respectively arranged on the upper and lower sides of the conveyor belt 2 .

The robot grasping unit 6 is composed of several grasping manipulators, and several grasping manipulators grasp the non-coal substances in the coal gangue according to the detection result of the detection unit 5 .

As shown in Figure 2, each grasping manipulator comprises jaw 61, dustproof universal joint assembly 62, jaw cylinder 63, and the bottom of described dustproof universal joint assembly 62 is connected with jaw cylinder 63, so The jaw cylinder 63 is connected with the jaw 61.

The robot grabbing unit 6 grabs the gangue in the coal block, and the side of the throwing conveyor belt 2 falls on the return conveyor belt 2 through the guide chute, and will be transported to the required position.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention.

Claims (10)

1. A sorting system for coal gangue, characterized in that it comprises a frame, a conveyor belt, a buffer discharge unit, a queuing unit, a detection unit, a robot grabbing unit, the conveyor belt is positioned on the frame, and the buffer discharge unit The material unit, queuing unit, detection unit, and robot grabbing unit are sequentially arranged on the conveyor belt according to the feeding direction. 2. The sorting system for coal gangue according to claim 1, wherein the buffer discharge unit comprises a buffer storage hopper, a feeding drive cylinder, a material gate driving rocker, and several material gates. The buffer storage hopper is arranged obliquely, and several material gates are arranged at the discharge end of the buffer storage hopper. The feeding drive cylinder is located outside the buffer storage hopper and connected with the rocker arm driving the material gate, and the material gate drives the rocker arm. It is connected with several material gates to drive its movement. 3. The sorting system for coal gangue according to claim 1 or 2, characterized in that, the queuing unit comprises several longitudinal queuing subunits and several horizontal queuing subunits, and the several longitudinal queuing subunits The unit and several horizontal queuing subunits are arranged in a staggered manner. 4. The sorting system for coal gangue according to claim 3, wherein each lateral queuing subunit comprises a support frame, an overturning arm, a lateral diverter, a belt line drive drum, and the support frame is arranged laterally Above the conveyor belt, several turning arms are arranged on the supporting frame, each turning arm has an L-shaped structure and one side is connected with the supporting frame through a belt line driving pulley, and a transverse diverter is arranged on the other side. 5. The sorting system for coal gangue according to claim 4, characterized in that each longitudinal queuing subunit comprises a support frame, an overturning arm, a longitudinal diverter, a belt line drive drum, and the support frame is horizontally arranged Above the conveyor belt, several turning arms are arranged on the supporting frame, each turning arm has an L-shaped structure and one side is connected with the supporting frame through a belt line driving roller, and a longitudinal divider perpendicular to the conveyor belt is arranged on the other side; The longitudinal divider is a rectangular baffle. 6 . The sorting system for coal gangue according to claim 5 , wherein the transverse flow divider is a metal block with a triangular cross section. 7 . 7. The sorting system for coal gangue according to claim 6, characterized in that, the transverse flow divider in the adjacent transverse queuing subunits in the several transverse queuing subunits is along the feeding direction cross section Gradually decrease. 8. The sorting system for coal gangue according to claim 7, characterized in that, one end of each turning arm is movably connected to one side of the support frame through a turning pivot pin, and is connected to the support frame through a height adjustment bolt. connect. 9. The sorting system for coal gangue according to claim 8, characterized in that, the detection unit includes a visual capture device and a density detection device, and the visual capture device and the density detection device are respectively arranged on the upper and lower sides of the conveyor belt sides. 10. The sorting system for coal gangue according to claim 9, characterized in that, the robot grabbing unit is composed of several grabbing manipulators, and several grabbing manipulators grab the coal according to the detection results of the detection unit Non-coal substances in gangue; each grabbing manipulator includes grippers, a dustproof universal joint assembly, and a gripper cylinder. The lower part of the dustproof universal joint assembly is connected to the gripper cylinder, and the gripper cylinder Connect with jaws.