CN209985817U - Intelligent gangue-selecting robot system - Google Patents
Intelligent gangue-selecting robot system Download PDFInfo
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- CN209985817U CN209985817U CN201920596104.1U CN201920596104U CN209985817U CN 209985817 U CN209985817 U CN 209985817U CN 201920596104 U CN201920596104 U CN 201920596104U CN 209985817 U CN209985817 U CN 209985817U
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- waste rock
- gangue
- picking robot
- belt conveyor
- chute
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- 239000010878 waste rock Substances 0.000 claims abstract description 70
- 239000003245 coal Substances 0.000 claims abstract description 57
- 230000005855 radiation Effects 0.000 claims description 17
- 239000012535 impurity Substances 0.000 claims description 7
- 230000003760 hair shine Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 12
- 238000007599 discharging Methods 0.000 abstract description 7
- 230000007613 environmental effect Effects 0.000 abstract description 7
- 238000005406 washing Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000000926 separation method Methods 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000002356 single layer Substances 0.000 description 3
- 230000018044 dehydration Effects 0.000 description 2
- 238000006297 dehydration reaction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005251 gamma ray Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000003077 lignite Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
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Abstract
The utility model provides an intelligence cash picking robot system, include: the device comprises a vibrating feeder, an inclined sliding plate, a rubber belt conveyor, a ray source, a ray sensor, a waste rock picking robot, a waste rock chute and a control device; the discharge port of the vibrating feeder is positioned above the inclined sliding plate, the inclined sliding plate is positioned on the rubber belt conveyor, and the ray source, the ray sensor, the waste rock picking robot and the waste rock chute are respectively positioned near the rubber belt conveyor in sequence. The utility model provides a manual waste rock discharging intensity of labour of present mainstream big, the inefficiency and move the mechanized waste rock selection operation of wet process such as sieve waste rock of row and synthesize and select separately with high costs, the problem of unsuitable easy argillization coal waste rock is big at the granularity scope, realizes intelligent waste rock discharge in advance under handling capacity height and environmental protection and energy saving's the prerequisite, reduces the technical problem of the production pressure of follow-up washing operation.
Description
Technical Field
The utility model relates to a coal field especially relates to an intelligence cash picking robot system.
Background
The mainstream method for pre-discharging the waste rock of coal in the past is to manually pick up the waste rock or move a sieve to discharge the waste rock and the like by a mechanized wet method. The manual waste rock picking operation personnel are more in configuration, severe in working environment, high in labor intensity, low in sorting efficiency, poor in precision and the like, and are bottlenecks which restrict the development of modern coal sorting. Although the separation efficiency of wet mechanical waste rock discharge such as moving screen waste rock discharge is high, the high-efficiency separation equipment and process need to be assisted by a water environment, the coal and waste rock separation in the water environment naturally involves the problems of subsequent dehydration, coal slime water treatment and the like, and for western regions with water shortage, the water resource consumed in the separation process is a huge cost. Meanwhile, for easily-argillized coal, a large amount of secondary coal slime is generated by wet waste rock discharge, so that the waste of coal resources is caused.
The wind power coal separation technology developed in recent years can solve the problem of shortage of coal separation water resources in western water-deficient areas, but the wind power coal separation utilizes wind to blow raw coal containing gangue, and the mode has high noise and much dust, and does not meet the requirement of environmental protection. And for the lump coal with larger granularity, the energy consumption of wind power waste rock discharge is larger, the blowing efficiency is low, the effect is poor, the method is suitable for sorting the small coal, and is not suitable for pre-discharging the waste rock of the raw coal.
SUMMERY OF THE UTILITY MODEL
Based on above problem, the utility model provides an intelligence cash picking robot system has solved that the manual work of present mainstream is arranged cash intensity of labour big, the inefficiency and move the screen and arrange wet process mechanization such as cash and select the cash operation to synthesize and select separately with high costs, the problem of unsuitable easy argillization coal discharge cash, and it is big at the granularity scope, realizes intelligent preliminary discharge cash under the high-throughput and environmental protection and energy saving's the prerequisite, reduces the technical problem of the production pressure of follow-up washing operation.
The utility model provides an intelligence cash picking robot system, include:
the device comprises a vibrating feeder, an inclined sliding plate, a rubber belt conveyor, a ray source, a ray sensor, a waste rock picking robot, a waste rock chute and a control device;
a discharge port of the vibrating feeder is positioned above the inclined sliding plate, the inclined sliding plate is positioned above the rubber belt conveyor, and the radiation source, the ray sensor, the waste rock picking robot and the waste rock chute are respectively positioned near the rubber belt conveyor in sequence;
raw coal falls into the rubber belt conveyor through vibrating feeder and slope slide, and the ray source sends the ray and shines raw coal, and ray sensor discerns the position and the granularity information of coal and waste rock in the raw coal and sends information to controlling means from the ray that sees through the raw coal, and controlling means control picks up the waste rock robot and snatchs out the waste rock and place in the waste rock chute.
In addition, the radiation source emits two groups of high-energy and low-energy X-rays.
In addition, the ray source is arranged corresponding to the ray sensor, and the ray sensor is arranged between the upper belt and the lower belt of the rubber belt conveyor.
In addition, the ray source adopts a portal structure and is erected on the rubber belt conveyor.
In addition, the gangue in the gangue chute enters the gangue bin through a gangue leveling belt or other conveying devices.
In addition, the number of waste rock chutes is two, sets up respectively in the both sides of rubber belt conveyor.
In addition, the system also comprises a recleaning gangue picking robot and a recleaning gangue chute which are arranged behind the gangue chute along the belt conveyor, and the control system controls the recleaning gangue picking robot to further grab and place gangue and impurities in the raw coal into the recleaning gangue chute.
Through adopting above-mentioned technical scheme, have following beneficial effect:
the utility model provides a manual waste rock discharging intensity of labour of present mainstream big, the inefficiency and move the mechanized waste rock selection operation of wet process such as sieve waste rock of row and synthesize and select separately with high costs, the problem of unsuitable easy argillization coal waste rock is big at the granularity scope, realizes intelligent waste rock discharge in advance under handling capacity height and environmental protection and energy saving's the prerequisite, reduces the technical problem of the production pressure of follow-up washing operation. The utility model provides a waste rock robot system is picked up to intelligence under the condition that does not waste hydraulic resources, does not cause noise and environmental pollution, through vibrating feeder, slope slide, band conveyer, ray source, ray sensor, pick up the cooperation work of waste rock robot, waste rock chute and these devices of controlling means, makes the process of discharging waste rock in advance more simple and convenient, and is with low costs moreover.
Drawings
Fig. 1 is a schematic view of an intelligent gangue-picking robot system provided by an embodiment of the present invention.
Reference numerals:
1-a vibrating feeder; 2- -inclined slide plate; 3- -rubber belt conveyer; 4- -ray source; 5- -ray sensor; 6-a gangue picking robot; 7-gangue chute; 8, re-selecting and picking up the gangue robot; 9- -refuse collection chute.
Detailed Description
The present invention is described in further detail below with reference to specific embodiments and the attached drawings. It is intended that the present invention not be limited to the particular embodiments disclosed, but that the present invention will include all embodiments falling within the scope of the appended claims.
Referring to fig. 1, the utility model provides an intelligence cash picking robot system, include:
the device comprises a vibrating feeder 1, an inclined sliding plate 2, a rubber belt conveyor 3, a ray source 4, a ray sensor 5, a waste rock picking robot 6, a waste rock chute 7 and a control device;
a discharge port of the vibrating feeder 1 is positioned above the inclined sliding plate 2, the inclined sliding plate 2 is positioned above the rubber belt conveyor 3, and the radiation source 4, the ray sensor 5, the gangue picking robot 6 and the gangue chute 7 are respectively positioned near the rubber belt conveyor 3 in sequence;
raw coal falls into rubber belt conveyor 3 through vibrating feeder 1 and slope slide 2, and ray irradiation raw coal is sent to ray source 4, and ray sensor 5 discerns the position and the granularity information of coal and waste rock in the raw coal and sends information to controlling means from the ray that sees through the raw coal, and controlling means control is picked up waste rock robot 6 and is snatched out the waste rock and place in waste rock chute 7.
The existing intelligent coal sorting technology comprises intelligent sorting equipment and technology based on gamma ray identification, but gamma rays belong to natural ray sources and have some potential safety hazards. Some existing related documents and patents based on intelligent X-ray identification, such as chinese patent CN105268634A and the like, utilize an air nozzle as an actuator to separate coal and gangue, and are relatively suitable for lump coal with a particle size of 100mm or less, while the large lump coal requires a large amount of air, which results in high energy consumption and a long air injection time, which affects the continuous operation speed and efficiency of the actuator. Still some patent documents disclose that the material single-layer distribution is realized by adopting a queuing mechanism, a mechanical ejection plate is used as an execution structure for each channel, and the application of the queuing structure causes the system throughput to be smaller, so that a raw coal pre-gangue discharging system with high development efficiency, low comprehensive cost, environmental protection and low energy consumption is urgently needed to solve the problems of higher and higher raw coal gangue content and high subsequent separation pressure caused by the existing fully-mechanized top coal caving mining modes and the like.
The utility model discloses in provide a cash robot system is picked up to intelligence, be applicable to the former coal and arrange the cash in advance, replace the tedious manual work and pick up the cash or move mechanized wet process discharge cash operation such as sieve discharge cash. Raw coal is irradiated by X-rays on the belt conveyor, is identified by a ray sensor arranged between an upper belt and a lower belt of the belt conveyor, simultaneously transmits an identification signal to a rear gangue picking robot 6, and the gangue picking robot 6 picks gangue and sundries out of gangue chutes 7 arranged on two sides according to the identification signal to realize coal-gangue separation.
The vibrating feeder 1 is used for realizing uniform distribution of raw coal; the inclined sliding plate 2 is used for connecting the vibrating feeder 1 and the rubber belt conveyor 3 to realize uniform single-layer distribution of raw coal; the belt conveyor 3 is used for conveying the lump coal to an intelligent gangue-picking area, providing a place for intelligently picking gangue and further helping to realize uniform single-layer distribution of raw coal; the radiation source 4 is used for emitting two groups of high-energy and low-energy X rays to irradiate coal and gangue on the rubber belt conveyor 3; the ray sensor 5 is used for receiving rays absorbed by coal and gangue and transmitting characteristic information and position information of the coal and the gangue to the control system; the gangue picking robot 6 can freely move in a three-dimensional space to grab target gangue and impurities by a mechanical arm type gripper, so that coal and gangue separation is realized; the gangue and impurities picked by the gangue picking robot 6 are placed in a gangue chute 7 and fed into a gangue conveying device to enter the next washing operation.
The utility model discloses a waste rock is arranged to the dry process, and whole process need not consume the water resource, has avoided the product dehydration and has produced the problem of secondary coal slime, is particularly suitable for the waste rock is arranged in advance of easy argillization coal such as brown coal. Compare high-pressure pneumatic valve "blow and beat" waste rock, the utility model discloses an energy consumption is lower, do not produce the dust and environmental protection more.
The utility model provides a manual waste rock discharging intensity of labour of present mainstream big, the inefficiency and move the mechanized waste rock selection operation of wet process such as sieve waste rock of row and synthesize and select separately with high costs, the problem of unsuitable easy argillization coal waste rock is big at the granularity scope, realizes intelligent waste rock discharge in advance under handling capacity height and environmental protection and energy saving's the prerequisite, reduces the technical problem of the production pressure of follow-up washing operation. The utility model provides a waste rock robot system is picked up to intelligence under the condition that does not waste hydraulic resources, does not cause noise and environmental pollution, through vibrating feeder 1, slope slide 2, band conveyer 3, ray source 4, ray sensor 5, pick up the cooperation work of waste rock robot 6, waste rock chute 7 and these devices of controlling means, makes the process of arranging the waste rock in advance more simple and convenient, and is with low costs moreover.
In one embodiment, the source 4 emits two sets of high and low energy X-rays. The radiation sensor 5 is enabled to better absorb the radiation by emitting two sets of X-rays of high and low energy.
In one embodiment, the radiation source 4 is arranged corresponding to the radiation sensor 5, and the radiation sensor 5 is arranged between the upper belt and the lower belt of the rubber belt conveyor 3. The radiation source 4 and the radiation sensor 5 are matched for use, so that the gangue can be effectively identified. By placing the radiation sensor 5 between the upper and lower belts of the belt conveyor 3, the radiation sensor 5 can better absorb the radiation transmitted from the radiation source 4 through the raw coal.
In one embodiment, the radiation source 4 is a gantry mounted on the belt conveyor 3. And a portal structure is adopted, so that the floor area is small, the direct upgrading and transformation on the original production line are suitable, and the cost is saved.
In one embodiment, the gangue in the gangue chute 7 is fed into the gangue hopper by a gangue leveling belt or other conveying device. The waste rock bin collects and stores waste rocks in a unified mode.
In one embodiment, the number of the gangue chutes 7 is two, and the gangue chutes are respectively arranged on two sides of the belt conveyor 3. And the gangue picking robot 8 places gangue on two sides of the rubber belt conveyor 3 according to the principle of proximity.
In one embodiment, the system further comprises a recleaning gangue picking robot 8 and a recleaning gangue chute 9 which are arranged behind the gangue chute 7 along the belt conveyor 3, and the control system controls the recleaning gangue picking robot 8 to further grab and take gangue and impurities in the raw coal out of the recleaning gangue chute 9.
In order to improve the processing efficiency and precision, the gangue and impurities which are not picked by the gangue picking robot are continuously picked out, the gangue and impurities which are picked out by the gangue re-selecting robot 8 are placed in a gangue re-selecting chute 9 and fed into a gangue conveying device for next washing operation.
What has been described above is merely the principles and preferred embodiments of the present invention. It should be noted that, for those skilled in the art, on the basis of the principle of the present invention, several other modifications can be made, and the protection scope of the present invention should be considered.
Claims (7)
1. An intelligent gangue-picking robot system is characterized by comprising:
the device comprises a vibrating feeder, an inclined sliding plate, a rubber belt conveyor, a ray source, a ray sensor, a waste rock picking robot, a waste rock chute and a control device;
a discharge port of the vibrating feeder is positioned above the inclined sliding plate, the inclined sliding plate is positioned above the rubber belt conveyor, and the radiation source, the ray sensor, the waste rock picking robot and the waste rock chute are respectively positioned near the rubber belt conveyor in sequence;
raw coal falls into the rubber belt conveyor through vibrating feeder and slope slide, and the ray source sends the ray and shines raw coal, and ray sensor discerns the position and the granularity information of coal and waste rock in the raw coal and sends information to controlling means from the ray that sees through the raw coal, and controlling means control picks up the waste rock robot and snatchs out the waste rock and place in the waste rock chute.
2. The intelligent gangue picking robot system of claim 1,
the ray source emits two groups of high-energy and low-energy X rays.
3. The intelligent gangue picking robot system of claim 1,
the ray source is arranged corresponding to the ray sensor which is arranged between the upper belt and the lower belt of the rubber belt conveyor.
4. The intelligent gangue picking robot system of claim 1,
the ray source adopts a portal structure and is erected on the rubber belt conveyor.
5. The intelligent gangue picking robot system of claim 1,
the waste rock in the waste rock chute enters the waste rock bin through a waste rock homogenizing belt or other conveying devices.
6. The intelligent gangue picking robot system of claim 1,
the number of the waste rock chutes is two, and the two waste rock chutes are respectively arranged at two sides of the rubber belt conveyor.
7. The intelligent gangue picking robot system according to any one of claims 1 to 6,
the system also comprises a recleaning gangue picking robot and a recleaning gangue chute which are arranged behind the gangue chute along the belt conveyor, and the control system controls the recleaning gangue picking robot to further grab and place gangue and impurities in the raw coal into the recleaning gangue chute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920596104.1U CN209985817U (en) | 2019-04-28 | 2019-04-28 | Intelligent gangue-selecting robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920596104.1U CN209985817U (en) | 2019-04-28 | 2019-04-28 | Intelligent gangue-selecting robot system |
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| CN209985817U true CN209985817U (en) | 2020-01-24 |
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| CN201920596104.1U Active CN209985817U (en) | 2019-04-28 | 2019-04-28 | Intelligent gangue-selecting robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112974308A (en) * | 2021-05-21 | 2021-06-18 | 天津美腾科技股份有限公司 | Intelligent material sorting equipment and method |
| CN114985289A (en) * | 2022-06-02 | 2022-09-02 | 北京科技大学 | Device and method for evaluating separation effect of coal gangue pre-selection system based on intelligent ore |
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2019
- 2019-04-28 CN CN201920596104.1U patent/CN209985817U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112974308A (en) * | 2021-05-21 | 2021-06-18 | 天津美腾科技股份有限公司 | Intelligent material sorting equipment and method |
| CN114985289A (en) * | 2022-06-02 | 2022-09-02 | 北京科技大学 | Device and method for evaluating separation effect of coal gangue pre-selection system based on intelligent ore |
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