Automatic recognition and pickup mechanism for gangue on coal mine coarse and fine coal conveying belt

Abstract

The invention relates to an automatic recognition and pickup mechanism for gangue on a coal mine coarse and fine coal conveying belt. The automatic recognition and pickup mechanism comprises an installing frame, an XYZ three-axis moving assembly, a tail end sucking assembly, a vision recognizing and distance measuring device and an impurity conveying assembly. Multiple sensors are utilized in thedevice for automatically recognizing the gangue on the conveying belt and measuring the position of the gangue; and a three-axis motion mechanism forming a cartesian coordinate system is utilized forsucking the gangue out. When the gangue and the center position of the gangue are obtained through the vision sensor, a three-axis motion system tracks the position through the interpolation motion, the distance sensor is used for measuring the height between the gangue and a suction cup, the suction cup rapidly sucks the gangue along with the movement in the Z direction, and then the gangue is placed on an impurity conveying belt to be conveyed into a gangue material barrel. The automatic recognition and pickup mechanism is simple in structure, high in recognition and motion precision, high in recognition and motion speed and suitable for picking up the gangue impurities on the coal plant coarse and fine coal conveying belt, the high-strength and high-danger labor work can be liberated, the production efficiency and the coal discharging quality are improved, and very large popularization space is achieved.

Description

technical field [0001] The invention discloses a gangue automatic identification and picking mechanism on a coal mine coarse and fine coal conveyor belt, which relates to the field of three-axis motion system and the field of visual recognition. Background technique [0002] In the coal mining industry, the gangue impurities remaining on the coarse and clean coal conveyor belt after coal preparation have always been the main reason affecting the quality of the coarse and clean coal. The current coal plants basically use manual operations to pick up the gangue impurities from the conveyor belt, so that The working environment is harsh, the workers' work intensity is high, the labor cost of the coal plant is high, and the safety of the workers cannot be guaranteed. [0003] Using the visual sensor, the gangue and its outline can be identified through the color difference between the gangue and the coarse and fine coal, and then the grabbing center position of the gangue, that ...

AI Technical Summary

Problems solved by technology

[0002] In the coal mining industry, the gangue impurities remaining on the coarse and clean coal conveyor belt after coal preparation have always been the main reason affecting the quality of the coarse and clean coal. The current coal plants basically use manual operations to pick up the gangue impurities from the conveyor belt, so that The working environment is harsh, the work intensity of the workers is high, the labor cost of the coal plant is high, and the safety of the workers cannot be guaranteed.

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