CN206415347U - The system for sorting spoil - Google Patents
The system for sorting spoil Download PDFInfo
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- CN206415347U CN206415347U CN201621350746.6U CN201621350746U CN206415347U CN 206415347 U CN206415347 U CN 206415347U CN 201621350746 U CN201621350746 U CN 201621350746U CN 206415347 U CN206415347 U CN 206415347U
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- Prior art keywords
- spoil
- ray
- information
- sorting
- raw coal
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Abstract
The utility model provides a kind of system for sorting spoil, including：Ray generator, for sending ray to the raw coal on conveyer belt, and recognizes the spoil in the raw coal being located on conveyer belt；Positioner, is connected with the ray generator, and the spoil is positioned for the information according to the ray；Mechanical arm, is connected with the positioner, and for the information according to the positioning, the spoil is sorted out from the raw coal.According to the system of sorting spoil of the present utility model, spoil is recognized by using ray, and spoil is positioned according to the information of ray using positioner, spoil is sorted using mechanical arm, both the injury that manual sorting's spoil is caused to human body had been avoided, manpower is saved again.
Description
Technical field
The utility model is related to colliery slagging-off technology, more particularly to a kind of system for sorting spoil.
Background technology
Nowadays, in the traditional coal production of China, due to the change of geologic structure, coal exploiting field all exist tomography and
Coal seam changes, and a large amount of spoils can be caused to be transported system into production system together in company with coal and be transported to ground.
Generally, the raw coal with spoil, which is first reached, selects cash workshop, after being sieved through vibrating screen classifier, more than a scale
The spoil and coal cinder of very little granularity will enter picking conveyer belt by manually carrying out picking.Because the most of coal field geology condition of China is answered
Miscellaneous, ature of coal condition changes greatly, therefore manually selects the workload of cash very big, and working strength is high, and working environment is severe.Also, from
The practitioner of this work of thing is substantially leading using women, is worked in such a case for a long time, can be greatly insulting strong
Health.
Utility model content
The utility model provides a kind of system for sorting spoil, to solve manually to select cash to cause human body wound in the prior art
Harmful defect.
The utility model provides a kind of system for sorting spoil, including：
Ray generator, for sending ray to the raw coal on conveyer belt, and is recognized in the raw coal being located on conveyer belt
Spoil；
Positioner, is connected with the ray generator, and the spoil is determined for the information according to the ray
Position；
Mechanical arm, is connected with the positioner, for the information according to the positioning, by the spoil from the raw coal
In sort out.
As shown from the above technical solution, the system for the sorting spoil that the utility model is provided, cash is recognized by using ray
Stone, and spoil is positioned according to the information of ray using positioner, spoil is sorted using mechanical arm, had both been avoided artificial
The injury that sorting spoil is caused to human body, saves manpower again.
Brief description of the drawings
Fig. 1 is the structural representation of the system of the sorting spoil according to the embodiment of the utility model one；
Fig. 2 is the structural representation of the system of the sorting spoil according to another embodiment of the utility model；
Fig. 3 is the schematic flow sheet of the method for the sorting spoil according to the utility model another embodiment.
Embodiment
Embodiment one
The present embodiment provided a kind of system for sorting spoil, for the spoil in automatic sorting raw coal.As shown in figure 1,
For the structural representation of the system of the sorting spoil according to the present embodiment.
The system of the sorting spoil of the present embodiment includes ray generator 101, positioner 102 and mechanical arm 103.
Wherein, ray generator 101 is used to send ray to the raw coal on conveyer belt, and recognizes the original being located on conveyer belt
Spoil in coal；Positioner 102 is used to position spoil according to ray information；Mechanical arm 103 is used for according to positioning
Information, spoil is sorted out from raw coal.
Wherein, ray generator 101 is connected with positioner 102, can be wired connection or wireless connection,
Positioner 102 is connected with mechanical arm 103, and connected mode can also be wired connection either wireless connection.Raw coal includes
Spoil and coal cinder.The number of ray generator 101 can be one or multiple, with specific reference to being actually needed setting.
Ray generator 101 specifically can identify spoil to X-ray is sent on conveyer belt according to the absorptivity of X-ray.
Specifically：Ray generator 101 can obtain the information for the X-ray for penetrating the raw coal, then according to the initial of the X-ray
The information of information and the X-ray for penetrating the raw coal identifies spoil, and penetrates the raw coal to the positioner 102 transmission
X-ray information.X-ray has very high penetration capacity in itself, can pass through many materials opaque to visible ray.X is penetrated
When line penetrates different materials, different materials is different to the absorptivity of X-ray, for example, its absorption of the high object of density
Rate is high.It therefore, it can distinguish object according to absorptivity.Area can be carried out to spoil and coal cinder using X-ray in the present embodiment
Point, wherein, the absorptivity of spoil is less than the absorptivity of coal cinder, according to both different absorptivities, and ray generator 101 just can be with
Spoil is determined whether.Specifically how to obtain absorptivity and the corresponding absorptivity of spoil belongs to prior art, herein no longer
Repeat.In actual applications, ray generator can be made to send other types of ray, such as alpha ray, β according to actual needs
Ray, gamma-rays and neutron ray etc., will not be repeated here.
Accordingly, the positioner 102 of the present embodiment specifically can be used for：Obtain the initial information of X-ray；According to described
The information of the initial information of X-ray and the X-ray for penetrating the raw coal, obtains the positional information of the spoil.Positioner 102
Obtaining the mode of the initial information of X-ray has many kinds, for example, be sent to positioner 102 by ray generator 101, can also
It is pre-entered into positioner 102, as long as ensure that the initial information of X-ray is positioned device 102 and got i.e.
Can.Certainly, positioner 102 can also obtain spoil according to the initial information of X-ray and the information for the X-ray for penetrating raw coal
Volume information and quality information.Positioner 102 can carry out IMAQ to raw coal, be adopted according to the information and image of ray
The information of collection is positioned to spoil, and the information of the ray includes the initial information of X-ray and penetrates the X-ray of the raw coal
Information.The information of the positioning is except the positional information of spoil, volume information and weight information, and the profile that can also include spoil is believed
Breath etc., specifically can according to actual needs obtain, not limit herein.
Mechanical arm 103 can be located in a mechanical arm group, according to the information of positioning, sort spoil.Specifically, may be used
To be operated accordingly by the Crush trigger arm 103 of positioner 102, can also control from positioner 102 to mechanical arm 103
Element sends the information of positioning, and Crush trigger arm 103 carries out sorting spoil after control element progress analysis accordingly
Operation, other manner can also be used according to actual needs, is specifically repeated no more.
According to the present embodiment sorting spoil system, by using ray recognize spoil, and using positioner according to
The information of ray is positioned to spoil, is sorted spoil using mechanical arm, had both been avoided what manual sorting's spoil was caused to human body
Injury, saves manpower again.
Embodiment two
The present embodiment is further elaborated with to the system of the sorting spoil of above-described embodiment.
As shown in Fig. 2 the ray generator of the present embodiment can include transmitter 1011 and receiver 1012.Wherein launch
Device 1011 is arranged on the lower section of conveyer belt 110, receiver 1012 be arranged on the top of conveyer belt 110 and with the phase of transmitter 1011
Right, transmitter 1011 is used to send ray to raw coal 120, and receiver 1012, which is used to receive, penetrates the ray of raw coal 120 and to this
Ray is analyzed, and generation penetrates the information of the X-ray of raw coal.Wherein, the traveling of conveyer belt 110 can be by transmitting belt wheel
111 realize.
The receiver 1012 of the present embodiment can include the silicon photodiode array with scintillation crystal, signal processing circuit
And data acquisition circuit.Wherein, silicon photo diode array is used to being converted into the ray for penetrating raw coal 120 into faint electric current letter
Number, signal processing circuit is used for after the faint integrated amplification of current signal, A/D (Analog/Digital, digital-to-analogue) conversions
It is sent to according to predetermined agreement in bus, data acquisition circuit is connected with bus, receives the electric current that signal processing circuit is sent
Signal, and result is passed through into TCP/IP (Transmission Control Protocol/Internet by preset algorithm
Protocol, transmission control protocol/internet protocol) send to positioner in agreement or other agreements, or be sent to
Other devices are sent on positioner by other devices again.Data acquisition circuit by the raw information of ray and can also be worn
Where it is spoil that the information of radioparent if being determined, and the information of the raw information of the ray of correspondence spoil and hard radiation is sent
To positioner.
Alternatively, positioner includes video monitor 1021 and controller (not shown), wherein, video monitor
1021 are arranged on the top of conveyer belt 110, the image information for gathering spoil, controller respectively with video monitor 1021 and
Ray generator is connected, and the controller is used for the information of the initial information and the X-ray for penetrating raw coal according to image information X-ray
Spoil is positioned.
Specifically, controller can determine the weight of spoil by the way of following：
The volume that first mass G, V is spoil is obtained according to formula G=ρ × V, ρ is the density of raw coal；
According to formulaWeight of the spoil in raw coal is obtained than Ad,
Wherein μ z are the mass attentuation coefficient for the element that atomic number is more than predetermined threshold value, and μ c are that quality ordinal number is less than or equal to default threshold
The mass attentuation coefficient of the element of value, I0It is the primary power of X-ray, I is the energy for the X-ray for penetrating raw coal, and d is raw coal
Thickness；
According to formula G '=Ad× G obtains the quality of spoil.
It is possible, firstly, to obtain the image of raw coal 120 by video monitor 1021, then controller is according to video monitor
1021 images obtained and edge detection algorithm of the prior art obtain the volume of spoil, specifically how to use rim detection
The volume that algorithm obtains object belongs to prior art, will not be repeated here.
When X-ray penetrates raw coal 120, the composition and mass density of X-ray absorption and raw coal 120 have relation.According to X-ray
Decay formula is understood：I=I_0e-μρd(formula 1)；
Wherein I penetrates the energy after raw coal, I for X-ray_0For the initial transmissions energy of X-ray, μ is the decay of X-ray
Coefficient, unit is cm2/ g, d are the thickness of raw coal, and unit is cm, and ρ is the density of coal, unit g/cm.The mass attenuation system of element
Number is related with the initial transmissions energy of X-ray, for example, for the X-ray less than 200keV, the quality of each element
Attenuation coefficient increases with the increase of atomic number.Although the composition of raw coal 120 is extremely complex, it is believed that raw coal
120 be that element using C as the element of the low atomic number of representative and using Si as the high atomic number of representative is constituted.Predetermined threshold value
It can just be arranged between C atomic number and Si atomic number.If the mass fraction of the element of high atomic number is Cz,
Then the mass fraction of the element of low atomic number is 1-Cz.Assuming that the mass attentuation coefficient of the element of high atomic number is μ z, it is low
The mass attentuation coefficient of the element of atomic number is μ c, then for X-ray, the mass attentuation coefficient of raw coal 120 is:
μ=Cz μ z+ (1-Cz) μ c formula (2)
Equation below can be obtained according to formula (1) and formula (2)：
Because spoil is the main component of ash content, it therefore, it can regard the absorptivity of the unit mass of spoil as ash content
The absorptivity of unit mass, and rule of thumb, the absorptivity of the unit mass of ash content is the unit matter of the element of high atomic number
2 times of the absorptivity of amount, therefore, can obtain weight of the spoil in raw coal according to formula (3) and compare Ad：
And the first mass G can be obtained according to the volume and the density of raw coal for obtaining spoil before, further according to formula G '=
=Ad× G obtains the quality G ' of spoil.
Certainly, controller can also determine the quality information of spoil using other manner, particularly belong to prior art, herein
Repeat no more.
In the present embodiment, mechanical arm 103 can be one in the one group of mechanical arm group pre-set, mechanical in system
The number of arm 103 can be multiple.In order that sorting spoil is more efficient, multiple mechanical arms can be set to co-operate, often
Individual mechanical arm can be responsible for the spoil of position, volume and quality within the specific limits, it is possible to be kept away according to degree set in advance
Exempt to influence each other.Optionally, the positioner of the present embodiment can be also used for：Believed according to the positional information of spoil, volume
Breath and quality information, the mechanical arm of spoil can be sorted by being selected from the mechanical arm group pre-set.
So, the mechanical arm 103 of the present embodiment specifically for：The spoil on relevant position is picked up according to location information
Extract operation, and/or change the direction that the spoil drops from conveyer belt 110, so that spoil falls on designated area.That is mechanical arm 103
The spoil on the position is sorted out according to location information.
Mechanical arm 103 can be arranged on the front on the direct of travel of conveyer belt 110, as shown in Figure 2.The sorting of the present embodiment
The operation of spoil can include pick-up operation and change the operation in the direction that spoil drops from conveyer belt 110.Pick-up operation is
Spoil is taken out and is placed into appointed place by mechanical arm 103 from conveyer belt 110；Change spoil to drop from conveyer belt 110
Direction include：Spoil is hit along the direct of travel of conveyer belt 110 and hits cash to the direct of travel for deviateing conveyer belt 110
Stone, this operation can be carried out when spoil will drop from conveyer belt 110, such as carried out at position 210.It is specific to lift
For example, if not carrying out any operation to spoil, spoil should drop in coal cinder feed bin 201, if mechanical arm 103 along
The direct of travel strike spoil of conveyer belt 110, then can give one acceleration of spoil, spoil is dropped in spoil feed bin 202,
If mechanical arm 103 hits spoil to the direct of travel for deviateing conveyer belt 110, spoil can drop on the side of coal cinder feed bin 201
Another spoil feed bin (not shown).Multiple spoil feed bins can be simultaneously set, can so cause different machines
Tool arm hits spoil in different directions, to be influenced each other between avoiding.Specific mechanical arm 103 can be according to the spoil of acquisition
Positional information, quality information and volume information calculate need to great power hit spoil so that spoil falls on specified spoil
Feed bin.
Optionally, the system of the sorting spoil of the present embodiment can also include straight line laser generator 203, the straight line laser
Generator 203 is connected with positioner 102, can send laser according to the location information of spoil, to indicate the cash being positioned
Stone, can also make operating personnel observe the spoil.The straight line laser generator 203 can be arranged on the top of conveyer belt 110.
Alternatively, the system of sorting spoil can also include at least one of following equipment：Conveyer belt 110, coal cinder material
Storehouse 201, spoil feed bin 202.
According to the system of the sorting spoil of the present embodiment, pass through mechanical arm automatic sorting spoil, it is to avoid manual sorting's cash
The injury that stone is caused to human body, saves manpower.
Embodiment three
The present embodiment provided a kind of method for sorting spoil, and performing the executive agent of the method for the sorting spoil can be
Sort the device of spoil.
As shown in figure 3, the schematic flow sheet of the method for the sorting spoil according to the present embodiment.The method of the sorting spoil
Including：
Step 301, ray is sent to the raw coal on conveyer belt, and recognizes the spoil in the raw coal being located on conveyer belt.
X-ray can be sent to raw coal by sorting the system of spoil, and spoil is recognized by the absorptivity of X-ray.That is the step
Specifically it may include：
X-ray is sent to the raw coal on the conveyer belt；
Obtain the information for the X-ray for penetrating the raw coal；
Spoil is identified according to the information of the initial information of the X-ray and the X-ray for penetrating the raw coal, and to described
Positioner sends the initial information of the X-ray and penetrates the information of the X-ray of the raw coal.
Step 302, spoil is positioned according to the information of X-ray.
The system of sorting spoil can orient the positional information of spoil, it is, of course, also possible to orient the volume letter of spoil
Breath and quality information.
The step can specifically include：
Obtain the initial information of X-ray；
According to the initial information of the X-ray and the information for the X-ray for penetrating the raw coal, the position of the spoil is obtained
Information.
Wherein, the information of the initial information according to the X-ray and the X-ray for penetrating the raw coal, obtains described
The quality information of spoil includes：
The volume that first mass G, V is the spoil is obtained according to formula G=ρ × V, ρ is the density of the raw coal；
According to formulaThe spoil is obtained in the raw coal
Weight is than Ad, and wherein μ z are the mass attentuation coefficient for the element that atomic number is more than predetermined threshold value, μ c be quality ordinal number be less than or
Equal to the mass attentuation coefficient of the element of predetermined threshold value, I0It is the primary power of X-ray, I is the X-ray for penetrating the raw coal
Energy, d is the thickness of the raw coal；
According to formula G '=Ad× G obtains the quality of the spoil.
Step 303, according to the information of positioning, spoil is sorted out from raw coal.
The step can specifically include：
According to the positional information of spoil, volume information and quality information, selected from the mechanical arm group pre-set
The mechanical arm of spoil can be sorted；
Spoil is sorted out from raw coal using the mechanical arm.
Alternatively, after the information for obtaining the X-ray for penetrating raw coal, and before step 303, in addition to：
According to the information for the X-ray for penetrating raw coal, the volume information and quality information of spoil are obtained.
The operating method of the system of the sorting spoil of the present embodiment is consistent with above-described embodiment, and the system of the sorting spoil
Structure it is also consistent with above-described embodiment, will not be repeated here.
According to the present embodiment sorting spoil method, by using ray recognize spoil, and using positioner according to
The information of ray is positioned to spoil, is sorted spoil using mechanical arm, had both been avoided what manual sorting's spoil was caused to human body
Injury, saves manpower again.
Example IV
The present embodiment is further elaborated with to the method for the sorting spoil of embodiment three.In the present embodiment, above-mentioned reality
The operation for sorting out spoil from raw coal for applying example is specifically included：
Spoil on relevant position is picked up by operation according to location information, and/or changes spoil and is dropped conveyer belt
Direction, so that spoil falls on designated area.
The operation of the sorting spoil of the present embodiment can include pick-up operation and change the side that spoil drops from conveyer belt
To operation.Pick-up operation is that spoil is taken out and is placed into appointed place by mechanical arm from conveyer belt；Change spoil from biography
Send and take the direction dropped and include：Spoil is hit along the direct of travel of conveyer belt and is beaten to the direct of travel for deviateing conveyer belt
Spoil is hit, this operation can be carried out when spoil will drop from conveyer belt.
The operating method of the system of the sorting spoil of the present embodiment is consistent with above-described embodiment, and the system of the sorting spoil
Structure it is also consistent with above-described embodiment, will not be repeated here.
According to the method for the sorting spoil of the present embodiment, by mechanical arm automatic sorting spoil, people's work point not only avoid
The injury that dirt extraction stone is caused to human body, saves manpower, and the mode of different sorting spoils, can avoid different mechanical arms it
Between sorting spoil influence each other.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in a computer read/write memory medium, the program
Upon execution, the step of including above method embodiment is performed；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：
It can still modify to the technical scheme described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is departed from each embodiment technology of the utility model
The scope of scheme.
Claims (7)
1. a kind of system for sorting spoil, it is characterised in that including：
Ray generator, for sending ray to the raw coal on conveyer belt, and recognizes the spoil in the raw coal being located on conveyer belt；
Positioner, is connected with the ray generator, and the spoil is positioned for the information according to the ray；
Mechanical arm, is connected with the positioner, and for the information according to the positioning, the spoil is divided from the raw coal
Sort out and.
2. it is according to claim 1 sorting spoil system, it is characterised in that the ray generator include transmitter and
Receiver, the transmitter is arranged on the lower section of the conveyer belt, the receiver be arranged on the top of the conveyer belt and with
The transmitter is relative, and the transmitter is used to send ray to the raw coal, and the receiver penetrates the original for reception
The ray of coal is simultaneously analyzed the ray, and the information of the X-ray of the raw coal is penetrated described in generation.
3. the system of sorting spoil according to claim 2, it is characterised in that the receiver is included with scintillation crystal
Silicon photodiode array, signal processing circuit and data acquisition circuit.
4. the system of sorting spoil according to claim 2, it is characterised in that the positioner includes video monitor
And controller, wherein, the video monitor is arranged on the top of the conveyer belt, and the image for gathering the spoil is believed
Breath, the controller is used for according to described image information, the initial information of the X-ray and the X-ray for penetrating the raw coal
Information is positioned to the spoil.
5. the system of sorting spoil according to claim 1, it is characterised in that the number of the ray generator is many
It is individual.
6. the system of sorting spoil according to claim 1, it is characterised in that the number of the mechanical arm is multiple.
7. the system of the sorting spoil according to any one of claim 1-6, it is characterised in that also include：
Straight line laser generator, is connected with the positioner, and the straight line laser generator is used to be believed according to the positioning of spoil
Breath sends laser, to indicate the spoil being positioned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621350746.6U CN206415347U (en) | 2016-12-09 | 2016-12-09 | The system for sorting spoil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621350746.6U CN206415347U (en) | 2016-12-09 | 2016-12-09 | The system for sorting spoil |
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| Publication Number | Publication Date |
|---|---|
| CN206415347U true CN206415347U (en) | 2017-08-18 |
Family
ID=59576572
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621350746.6U Expired - Fee Related CN206415347U (en) | 2016-12-09 | 2016-12-09 | The system for sorting spoil |
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| Country | Link |
|---|---|
| CN (1) | CN206415347U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106694398A (en) * | 2016-12-09 | 2017-05-24 | 北京默德科技有限公司 | Gangue sorting system and method |
-
2016
- 2016-12-09 CN CN201621350746.6U patent/CN206415347U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106694398A (en) * | 2016-12-09 | 2017-05-24 | 北京默德科技有限公司 | Gangue sorting system and method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170818 Termination date: 20211209 |
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| CF01 | Termination of patent right due to non-payment of annual fee |