CN207238536U - Intelligent robot underground waste stone exhaust system - Google Patents
Intelligent robot underground waste stone exhaust system Download PDFInfo
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- CN207238536U CN207238536U CN201721181225.7U CN201721181225U CN207238536U CN 207238536 U CN207238536 U CN 207238536U CN 201721181225 U CN201721181225 U CN 201721181225U CN 207238536 U CN207238536 U CN 207238536U
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- intelligent robot
- spoil
- coal
- dirt extraction
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Abstract
A kind of intelligent robot underground waste stone exhaust system of the utility model, including the leading portion main entry belt, roller picker and back segment main entry belt being successively set in main haulage roadway, it is arranged on the indoor intelligent robot dirt extraction system belt of intelligent robot dirt extraction cave, intelligent robot dirt extraction system and especially big block cleaned coal and returns coal belt, and the spoil belt being arranged in spoil haulage drift；Wherein, the end of leading portion main entry belt and the front end of roller picker overlap, the end of roller picker is overlapped with the front end of intelligent robot dirt extraction system belt and the front end of back segment main entry belt respectively, the end of intelligent robot dirt extraction system belt and especially big block cleaned coal are returned the one end of the front end of coal belt with intelligent robot dirt extraction system and are overlapped, especially big block cleaned coal is returned the end of coal belt and is overlapped with the front end of back segment main entry belt, and the other end of intelligent robot dirt extraction system is overlapped with the front end of spoil belt.The utility model selects intelligent dirt extraction robot, and technique is simple, reasonable Arrangement, reduces difficulty of construction, investment reduction.
Description
Technical field
The utility model belongs to underground coal mine coal-gangue separation technical field, more particularly to a kind of intelligent robot underground discharge refuse
System.
Background technology
A large amount of unserviceable spoils are mixed with available coal in coal mining production process, in traditional production system
In system, coal is together promoted to ground with spoil and passes through artificial dirt extraction, and separation is realized after sorting, and separated spoil dumps stacking, heap
Long-pending hillock brings mining area ecological environment and condition very big threat and harm, including appropriation of land, causes air ambient, water
Pollution of matter and soil etc..The country has some collieries to reduce mainly arranging for spoil discharge by backfilling to be used as under waste shaft at present
Apply, spoil is gone into the well backfill by assistant conveyance after washing, and invalid lifting and transport add production cost.Common point of underground
Choosing method includes jigging, dynamic sieve and shallow slot, they are all wet coal preparation, it is necessary to which coal slime Water Sproading link, wherein shallow slot are dense medium
Coal separation, it is also necessary to which complicated dielectric film filter link, whole separation system are more complicated.
Utility model content
The purpose of this utility model is to provide a kind of intelligent robot underground waste stone exhaust system, for realizing coarse coal in underground
Dry separation, sub-elects bulk spoil not gug, reduces ineffective traffic, strengthens mine coal lifting ability.
To reach above-mentioned purpose, the utility model adopts the following technical solution to realize：
Intelligent robot underground waste stone exhaust system, including leading portion main entry belt, the roller picker being successively set in main haulage roadway
With back segment main entry belt, the indoor intelligent robot dirt extraction system belt of intelligent robot dirt extraction cave, intelligent robot are arranged on
Dirt extraction system and especially big block cleaned coal return coal belt, and the spoil belt being arranged in spoil haulage drift；Wherein,
The end of leading portion main entry belt and the front end of roller picker overlap, the end of roller picker respectively with intelligent robot dirt extraction
The front end of system belt and the front end overlap joint of back segment main entry belt, the end of intelligent robot dirt extraction system belt and especially big piece of essence
Coal returns the one end of the front end of coal belt with intelligent robot dirt extraction system and overlaps, and especially big block cleaned coal returns the end of coal belt with after
The front end overlap joint of section main entry belt, the other end of intelligent robot dirt extraction system are overlapped with the front end of spoil belt.
The utility model, which further improves, to be, main haulage roadway is arranged in parallel with spoil haulage drift, intelligent robot
Dirt extraction chamber is arranged vertically with main haulage roadway and spoil haulage drift.
The utility model, which further improves, to be, the belt speed of intelligent robot dirt extraction system belt for 0.3m/s~
0.6m/s。
The utility model, which further improves, to be, especially big block cleaned coal refers to that particle diameter is not less than the coal cinder of 100mm.
The utility model, which further improves, to be, intelligent robot dirt extraction system includes X-ray identifying system, gripper
Device people and control system, wherein, X-ray identifying system is used to be identified by X-ray coal and spoil, and control system is based on
The positional information for calculating spoil passes to crawl robot above belt feeder, crawl robot according to prediction position and
Time, when spoil reaches precalculated position capturing robot performs grasping movement, catches spoil and is put into the spoils of belt both sides and slips
In groove, spoil belt is connected under slate chute.
The utility model, which further improves, to be, X-ray identifying system includes x-ray source, X-ray detector and image
Capture card, x-ray source is used to send dual-energy x-ray irradiation material, and is penetrated using X-ray detector and image pick-up card collection X
Line attenuation signal, and it is transmitted to control system.
The utility model has following beneficial effect：
The utility model is realized is arranged in underground by intelligent robot dirt extraction system, and run-of-mine coal (ROM coal) is through leading portion main entry belt to extremely
Roller picker feeding end, realization+100mm (150mm) coarse coal coal-gangue separation, bulk spoil not gug, reduces ineffective traffic, improves
Put forward coal ability.Method for separating selects dry separation, and without dielectric film filter and black water link, production system is simple, and quantities is small,
Reduced investment, facilitates underground to arrange.
Brief description of the drawings
Fig. 1 is the arrangement schematic diagram of the utility model intelligent robot underground waste stone exhaust system.
In figure：1- leading portion main entry belts, 2- roller pickers, 3- intelligent robot dirt extraction system belts, 4- intelligent robots pick
Cash system, the especially big block cleaned coals of 5- return coal belt, 6- spoil belts, 7- back segment main entry belts, 8- main haulage roadways, 9- intelligent robots
Dirt extraction chamber, 10- spoil haulage drifts.
Embodiment
Below in conjunction with attached drawing, the utility model will be further described.
As shown in Figure 1, in the waste stone exhaust system of intelligent robot underground provided by the utility model, main haulage roadway belt is divided into two
Section, i.e. leading portion main entry belt 1 and back segment main entry belt 7, locally increase in 8 rational position of main haulage roadway, arrange roller picker 2, well
Lower run-of-mine coal (ROM coal) is transported through leading portion main entry belt 1, is then given to roller picker 2 through head chute, is classified with 100mm (150mm), under sieve-
100mm (- 150mm) is given to the back segment main entry belt 7 being arranged under roller picker 2 through the lower chute of sieve.Special bulk materials warp on sieve
Chute is given to being arranged on the local intelligent robot dirt extraction system belt 3 for undercuting groove section, into intelligent robot dirt extraction chamber
9, this belt belt speed is relatively low, and belt speed is 0.3m/s~0.6m/s.
Perpendicular to main shaft main haulage roadway developing intelligent robot dirt extraction chamber 9, intelligent robot dirt extraction system belt is arranged
3rd, intelligent robot dirt extraction system 4,6 tail of spoil belt and especially big block cleaned coal return coal belt 5.Intelligent robot dirt extraction system 4
It is made of X-ray identifying system, crawl robot and control system.X-ray identifying system includes x-ray source, X-ray detector
And image pick-up card, after ultra large coal enters robot dirt extraction system 4, x-ray source sends dual-energy x-ray irradiation material, works as conjunction
When the X-ray transparent coal cinder or spoil of suitable energy, because the density of the density ratio coal cinder of spoil is big, therefore through the ray of spoil
Attenuation degree is larger, and the ray attenuation degree for passing through coal cinder is smaller, is penetrated using X-ray detector and image pick-up card collection X
Line attenuation signal, and be transmitted to control system, mark is produced coal and spoil and is carried out after analysis and processing of the control system to data
Positioning, coal or spoil are sorted out using robot is captured.
The course of work is that coal and spoil are transported by intelligent robot dirt extraction system belt 3, coal and spoil first into
Enter the image recognition area of X-ray identifying system, spoil and impurities identification are gone out by X-ray identifying system, control system calculates
The positional information of spoil passes to the crawl robot above belt feeder, crawl robot according to prediction position and when
Between, robot execution grasping movement is captured when spoil reaches precalculated position, catches the slate chute that spoil is put into belt both sides
It is interior, spoil belt 6 is connect under slate chute.Especially big block cleaned coal moves forward on belt, is given at head through chute to same
The especially big block cleaned coal of arrangement returns coal belt 5 in chamber, and reprinting is given to back segment main entry belt 7 to through head chute.Especially big block cleaned coal
And the mixing of -100mm raw coal is promoted to floor treatment through back segment main entry belt 7.
The local heightening design of main haulage roadway 8,1 head of leading portion main entry belt are raised, fed easy to run-of-mine coal (ROM coal) by the utility model
Follow-up roller picker 2.
The utility model main haulage roadway arrangement roller picker 2 realize 100mm (150mm) be classified, 2 coal stream direction of roller picker with
Back segment main entry 7 conveying directions of belt are consistent, roller picker 2 sieve under directly to the back segment main entry belt 7 to sieve arranged beneath, effectively
Reduce head-room.Directly be given on sieve be arranged in tunnel locally undercut section intelligent robot dirt extraction system belt 3 on, into
Enter intelligent robot dirt extraction system 4.
The utility model arrangement intelligent robot dirt extraction system 4 and especially big block cleaned coal in intelligent robot dirt extraction chamber 9
Coal belt 5 is returned, simple system, saves civil engineering.
The utility model is by especially big piece of selection intelligent robot dirt extraction system 4 of+100mm (+150mm), in dirt extraction system
Identification record reponse system is used to bastard coal be identified and contrasts data feature values and setting value, when regarding as object,
Intelligent robot is used to sort out spoil.
Especially big block cleaned coal of the utility model after the sorting of intelligent robot dirt extraction system 4 is in intelligent robot dirt extraction system
The head of belt 3 is directly fed using chute and returns coal ribbon conveyer, and without reprinting, technique is simple.
Claims (6)
1. intelligent robot underground waste stone exhaust system, it is characterised in that including the leading portion main entry being successively set in main haulage roadway (8)
Belt (1), roller picker (2) and back segment main entry belt (7), the intelligent robot being arranged in intelligent robot dirt extraction chamber (9)
Dirt extraction system belt (3), intelligent robot dirt extraction system (4) and especially big block cleaned coal return coal belt (5), and are arranged on spoil fortune
Spoil belt (6) in defeated tunnel (10)；Wherein,
The end of leading portion main entry belt (1) and the front end of roller picker (2) overlap, the end of roller picker (2) respectively with intelligence machine
The front end of people's dirt extraction system belt (3) and the front end overlap joint of back segment main entry belt (7), intelligent robot dirt extraction system belt (3)
End and especially big block cleaned coal return the one end of the front end of coal belt (5) with intelligent robot dirt extraction system (4) and overlap, especially big piece
Cleaned coal returns the end of coal belt (5) and the front end of back segment main entry belt (7) and overlaps, intelligent robot dirt extraction system (4) it is another
End and the front end of spoil belt (6) overlap.
2. intelligent robot underground according to claim 1 waste stone exhaust system, it is characterised in that main haulage roadway (8) and spoil
Haulage drift (10) is arranged in parallel, and intelligent robot dirt extraction chamber (9) is vertical with main haulage roadway (8) and spoil haulage drift (10)
Arrangement.
3. intelligent robot underground according to claim 1 waste stone exhaust system, it is characterised in that intelligent robot dirt extraction system
The belt speed of belt (3) is 0.3m/s~0.6m/s.
4. intelligent robot underground according to claim 1 waste stone exhaust system, it is characterised in that especially big block cleaned coal refers to grain
Footpath is not less than the coal cinder of 100mm.
5. intelligent robot underground according to claim 1 waste stone exhaust system, it is characterised in that intelligent robot dirt extraction system
(4) include X-ray identifying system, crawl robot and control system, wherein, X-ray identifying system be used for by X-ray coal and
Spoil is identified, and the positional information that control system is used to calculate spoil passes to crawl machine above belt feeder
People, position and time of the crawl robot according to prediction, robot execution grasping movement is captured when spoil reaches precalculated position,
Catch spoil to be put into the slate chute of belt both sides, spoil belt (6) is connected under slate chute.
6. intelligent robot underground according to claim 5 waste stone exhaust system, it is characterised in that X-ray identifying system includes X
Radiographic source, X-ray detector and image pick-up card, x-ray source is used to send dual-energy x-ray irradiation material, and is visited using X-ray
Device and image pick-up card collection X-ray attenuation signal are surveyed, and is transmitted to control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721181225.7U CN207238536U (en) | 2017-09-14 | 2017-09-14 | Intelligent robot underground waste stone exhaust system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721181225.7U CN207238536U (en) | 2017-09-14 | 2017-09-14 | Intelligent robot underground waste stone exhaust system |
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| CN207238536U true CN207238536U (en) | 2018-04-17 |
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| CN201721181225.7U Active CN207238536U (en) | 2017-09-14 | 2017-09-14 | Intelligent robot underground waste stone exhaust system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107413677A (en) * | 2017-09-14 | 2017-12-01 | 中煤能源研究院有限责任公司 | Intelligent robot underground waste stone exhaust system |
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2017
- 2017-09-14 CN CN201721181225.7U patent/CN207238536U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107413677A (en) * | 2017-09-14 | 2017-12-01 | 中煤能源研究院有限责任公司 | Intelligent robot underground waste stone exhaust system |
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