Gangue identification and sorting system

Abstract

The present invention provides a gangue identification and sorting system, comprising: a conveying device (10), a feed hopper (20), a surface treatment device (30), a diversion device (40), a visual identification device (50), a sorting device (60) and a control device; a receiving box (11) is arranged on both sides of the conveying route of the conveying device (10); the feed hopper (20) is arranged at the conveying starting end of the conveying device (10); the control device is electrically connected to the conveying device (10), the visual identification device (50) and the sorting device (60) to control the conveying device (10), the visual identification device (50) and the sorting device (60) to work. By adopting the above technical solution, the gangue in the raw coal can be quickly identified and sorted out, and the sorting efficiency is greatly improved. Moreover, after the surface treatment of the surface treatment device and the diversion of the diversion device, the identification accuracy and the sorting accuracy are significantly improved.

Description

Technical Field

[0001] The invention relates to the field of coal mining, and in particular to a coal gangue identification and sorting system. Background Art

[0002] Newly mined raw coal is often mixed with gangue. Gangue sorting is a coal pre-combustion treatment technology, an indispensable part of coal mine production, and one of the effective methods to improve coal quality. Currently, there are mainly wet sorting, dry sorting and manual sorting methods for gangue sorting.

[0003] The wet selection method mainly includes the heavy medium method and the jigging method. Its characteristic is that the raw coal is placed in the solution by utilizing the different densities of coal and gangue, thereby realizing the stratified separation of coal and gangue. The equipment used in this method is huge, the process is complicated, the sorting efficiency is low and it pollutes the environment. The dry selection method utilizes the different transmittance of coal and gangue to light and adopts dual-energy gamma-ray transmission identification and sorting. The equipment using this method is expensive, the sorting efficiency is low and there is radiation. In addition, manual gangue selection has the disadvantages of harsh working environment, high labor intensity, easy misselection or omission, etc. Summary of the invention

[0004] The purpose of the present invention is to provide a coal gangue identification and sorting system to solve the problem of low efficiency in sorting coal gangue in the prior art.

[0005] To achieve the above object, the present invention provides a gangue identification and sorting system for identifying and sorting gangue in raw coal, comprising:

[0006] A conveying device for conveying raw coal, wherein receiving boxes are arranged on both sides of the conveying route of the conveying device;

[0007] A feed hopper, arranged at the conveying starting end of the conveying device;

[0008] A surface treatment device, disposed downstream of the feed hopper, for blowing the raw coal;

[0009] A flow dividing device, disposed downstream of the surface treatment device, for dividing the raw coal on the conveying device into at least two columns;

[0010] A visual identification device, disposed downstream of the diversion device, for identifying gangue in the raw coal;

[0011] A sorting device, disposed downstream of the visual recognition device, for sorting the gangue identified by the visual recognition device into the containing box; and

[0012] A control device is electrically connected to the conveying device, the visual recognition device and the sorting device to control the operation of the conveying device, the visual recognition device and the sorting device.

[0013] Optionally, the diverter device comprises a first gantry and a diverter assembly arranged on the first gantry, the diverter assembly is in a "V" shape as a whole, and the tip of the diverter assembly faces the conveying starting end of the conveying device;

[0014] The bottom end of the diverter assembly is flush with the upper surface of the conveying device.

[0015] Optionally, the diverter assembly is slidably connected to the first gantry, so that the diverter assembly can slide up and down relative to the first gantry.

[0016] Optionally, the diverter device further comprises a first driving component for driving the diverter assembly to slide, and the control device is electrically connected to the first driving component to control the operation of the driving component.

[0017] Optionally, a sensor is provided upstream of the diverter device for measuring the height of the raw coal on the conveyor device, and the sensor is electrically connected to the control device to transmit the measured data to the control device;

[0018] When the height of the raw coal on the conveying device is measured to be greater than a preset value, the control device controls the first driving component to operate so as to lift the diverter assembly.

[0019] Optionally, the sorting device includes a second gantry and a manipulator disposed on the second gantry, and the manipulator is located on one side of the containing box.

[0020] Optionally, the sorting device further comprises a second driving component, a guide rail is arranged on the crossbeam of the second gantry, the direction of the guide rail is perpendicular to the conveying direction of the conveying device, the manipulator is arranged on the guide rail, and can move along the guide rail under the drive of the second driving component, and the control device is electrically connected to the second driving component to control the operation of the second driving component;

[0021] The width over which the robot can move is greater than the width of the conveying device.

[0022] Optionally, a sensor is provided upstream of the sorting device for measuring the height of the raw coal on the conveying device, and the sensor is electrically connected to the control device to transmit the measured data to the control device;

[0023] When the height of the raw coal on the conveying device is measured to be greater than a preset value, the control device controls the second driving component to operate so as to move the manipulator to both sides of the conveying device.

[0024] Optionally, the gangue identification and sorting system comprises at least two of the sorting devices, and the at least two of the sorting devices are arranged downstream of the visual identification device and are arranged at intervals;

[0025] The containing boxes are arranged on both sides of each of the sorting devices.

[0026] Optionally, the conveying device comprises: a third driving component, a bracket, a plurality of rolling components arranged on the bracket, and a conveyor belt laid on the plurality of rolling components and driven by the driving component;

[0027] The plurality of rolling components are used to support the conveyor belt;

[0028] The part of the rolling components close to the sorting device is higher in the middle and lower on both sides in the cross section of the conveyor belt, so that the part of the conveyor belt at this position bulges from both sides to the middle.

[0029] By adopting the above technical scheme, the gangue in the raw coal can be quickly identified and sorted out, and the sorting efficiency is greatly improved. Moreover, after the surface treatment by the surface treatment device and the diversion by the diversion device, the identification accuracy and sorting accuracy are significantly improved, which plays a positive role in the sorting of gangue. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a three-dimensional schematic diagram of a coal gangue identification and sorting system in one embodiment of the present invention;

[0031] Figure 2 yes Figure 1 The front view of the coal gangue identification and sorting system;

[0032] Figure 3 yes Figure 1 A top view of the coal gangue identification and sorting system;

[0033] Figure 4 yes Figure 1 A schematic cross-sectional view of a surface treatment device;

[0034] Reference numerals:

[0035] 10-transmission device; 11-accommodation box; 12-third driving component; 13-support; 14-conveyor belt;

[0036] 20-feed hopper;

[0037] 30- surface treatment device;

[0038] 40-diverter device; 41-first gantry; 42-diverter assembly;

[0039] 50- Visual recognition device;

[0040] 60-sorting device; 61-second gantry; 62-manipulator. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0042] Implementation Method 1

[0043] The technical solution provided in this embodiment is to identify and sort the gangue in the raw coal. The raw coal includes coal and the gangue mixed in the coal. The purpose of this embodiment is to provide a complete system to improve the efficiency of gangue sorting.

[0044] See also Figure 1-Figure 3 The present embodiment provides a gangue identification and sorting system for identifying and sorting gangue in raw coal, including: a conveying device 10, a feed hopper 20, a surface treatment device 30, a diversion device 40, a visual identification device 50, a sorting device 60 and a control device (not shown in the figure).

[0045] Among them, the conveying device 10 is used to convey raw coal, and a containing box 11 is arranged on both sides of the conveying route of the conveying device 10; the feed hopper 20 is arranged at the conveying starting end of the conveying device 10; the surface treatment device 30 is arranged downstream of the feed hopper 20, and is used to purge the raw coal; the diverter device 40 is arranged downstream of the surface treatment device 30, and is used to divide the raw coal on the conveying device 10 into at least two columns; the visual recognition device 50 is arranged downstream of the diverter device 40, and is used to identify the gangue in the raw coal; the sorting device 60 is arranged downstream of the visual recognition device 50, and is used to sort the gangue identified by the visual recognition device 50 into the containing box 11; the control device is electrically connected to the conveying device 10, the visual recognition device 50 and the sorting device 60 to control the operation of the conveying device 10, the visual recognition device 50 and the sorting device 60.

[0046] During the working process, the control device controls each device to start, the raw coal enters the system from the feed hopper 20, flows into the conveying device 10 for conveying, and the raw coal first enters the surface treatment device 30. The surface treatment device 30 can provide a high-speed airflow to sweep the raw coal. Under the sweeping of the high-speed airflow, the surface of the coal is basically unchanged, and the coal powder attached to the surface of the gangue is blown off, thereby showing the original color of the gangue (gray). The gray gangue is conducive to the recognition and processing of the recognition device such as the industrial camera. After being processed by the surface treatment device 30, the surface color of the coal and the gangue is very different, and can be easily recognized by the visual recognition device 50. The visual recognition device 50 can identify the gangue according to the difference in grayscale between the coal and the gangue in the image, especially after being air-dried by the surface treatment device 30, the recognizability is enhanced. After being processed by the surface treatment device 30, the raw coal is diverted into at least two columns by the diversion device 40. The raw coal distributed in columns is conducive to sorting by the sorting device 60, which can effectively reduce sorting errors. After the visual recognition device 50 recognizes the gangue, it will send the position information of the gangue to the control device, and the control device will adjust the sorting device 60 to perform accurate sorting according to the position information.

[0047] By adopting the above technical solution, the gangue in the raw coal can be quickly identified and sorted out, and the sorting efficiency is greatly improved. Moreover, after the surface treatment by the surface treatment device 30 and the diversion by the diversion device 40, the identification accuracy and sorting accuracy are significantly improved, which plays a positive role in the sorting of gangue.

[0048] participate Figure 4 , which shows a cross-sectional schematic diagram of the surface treatment device 30. The surface treatment device 30 has a shell, which covers the conveyor belt 14 of the conveying device 10. All raw coal passes through the shell. A nozzle is provided in the shell to blow the raw coal passing through, thereby increasing the identifiability of coal gangue in the raw coal.

[0049] In this embodiment, the diverter device 40 divides the raw coal into two columns. Specifically, the diverter device 40 includes a first gantry 41 and a diverter assembly 42 arranged on the first gantry 41. The diverter assembly 42 is in a "V" shape as a whole, and the tip of the diverter assembly 42 faces the conveying starting end of the conveying device 10; the bottom end of the diverter assembly 42 is flush with the upper surface of the conveying device 10. The "V"-shaped structure here means that when the diverter assembly 42 is viewed from directly above the conveying device 10, the shape of the diverter assembly 42 is a "V"-shaped structure. The purpose of setting it in this shape is to divert the raw coal into two columns and arrange them on the conveying device 10. The first gantry 41 mainly serves to carry the diverter assembly 42. Those skilled in the art can set a diverter device 40 with other structures to divide the raw coal into three columns, four columns or even more columns according to needs.

[0050] Preferably, the flow diverter assembly 42 is slidably connected to the first gantry 41, so that the flow diverter assembly 42 can slide up and down relative to the first gantry 41. This arrangement is conducive to the installation and commissioning of the flow diverter assembly 42.

[0051] Furthermore, in a more preferred embodiment, the flow dividing device 40 further includes a first driving component for driving the flow dividing assembly 42 to slide, and the control device is electrically connected to the first driving component to control the operation of the driving component. By providing the first driving component, the flow dividing assembly 42 can be automatically controlled to rise and fall, so that the automation level of the entire system is higher.

[0052] During the transportation of gangue on the conveying device 10, the problem of excessive transportation volume may occur, that is, there are too many raw coals piled up on the conveying device 10. If they are not cleaned up in time, the entire sorting system may be damaged. To this end, the present embodiment provides a further optimized solution, specifically: a sensor is set upstream of the diverter device 40, preferably an infrared sensor, for measuring the height of the raw coal on the conveying device 10, and the sensor is electrically connected to the control device to transmit the measured data to the control device; when the height of the raw coal on the conveying device 10 is greater than the preset value, the control device automatically controls the first drive component to work to lift the diverter assembly 42. The lifting of the diverter assembly 42 mainly plays the role of avoiding the raw coal, which can reduce the obstruction of the raw coal, thereby facilitating the timely diversion of the raw coal on the conveying device 10. After the diversion is completed, the diverter assembly 42 can be lowered.

[0053] In a specific embodiment, the sorting device 60 includes a second gantry 61 and a manipulator 62 disposed on the second gantry 61, and the manipulator 62 is located on one side of the container 11. The second gantry 61 serves to carry the manipulator 62, and components for installing the manipulator 62 and various circuits can be disposed thereon.

[0054] Furthermore, the sorting device 60 also includes a second driving component. A guide rail is provided on the crossbeam of the second gantry 61. The direction of the guide rail is perpendicular to the conveying direction of the conveying device 10. The manipulator 62 is provided on the guide rail and can move along the guide rail under the drive of the second driving component. The control device is electrically connected to the second driving component to control the operation of the second driving component. The width of the manipulator 62 that can move is greater than the width of the conveying device 10. Through the above arrangement, the movement range of the manipulator 62 can cover the width of the entire conveying device 10, and the automatic control of the movement of the manipulator 62 is realized. In this embodiment, two manipulators 62 are provided on the same second gantry 61, and each manipulator 62 corresponds to a column of diverted raw coal.

[0055] Similarly, in order to solve the problem of excessive accumulation of raw coal on the conveyor 10, a sensor can be provided upstream of the sorting device 60 to measure the height of the raw coal on the conveyor 10. The sensor is electrically connected to the control device to transmit the measured data to the control device; when the height of the raw coal on the conveyor 10 is greater than the preset value, the control device controls the second driving component to work to move the manipulator 62 to both sides of the conveyor 10. The sensor can be the same component as the sensor provided upstream of the diverter device 40 mentioned above, or a separate sensor can be provided separately. Usually, a gangue identification and sorting system only needs to be provided with one sensor to play an effective control role. Therefore, when the sensor detects that the height of the raw coal on the conveyor 10 is greater than the preset value, the control device simultaneously controls the first driving component and the second driving component to work to avoid the conveying channel of the raw coal.

[0056] In order to make the gangue sorting more thorough, the gangue identification and sorting system includes at least two sorting devices 60, and at least two sorting devices 60 are arranged downstream of the visual recognition device 50 and arranged at intervals; a receiving box 11 is arranged on both sides of each sorting device 60. A corresponding visual recognition device 50 can be arranged upstream of each sorting device 60, or multiple sorting devices 60 can share the same visual recognition device 50. In a preferred solution, a corresponding visual recognition device 50 is arranged upstream of each sorting device 60, and a visual recognition device 50 is arranged above each column of raw coal being diverted.

[0057] In this embodiment, the conveying device 10 includes: a third driving component 12, a bracket 13, a plurality of rolling components arranged on the bracket 13, and a conveyor belt 14 laid on the plurality of rolling components and driven by the driving component 12; the plurality of rolling components are used to support the conveyor belt 14; the part of the rolling components close to the sorting device 60 is high in the middle and low on both sides in the cross section of the conveyor belt 14, so that the part of the conveyor belt 14 at this position bulges from both sides to the middle. Since the part of the conveyor belt 14 at this position bulges from both sides to the middle, when the sorting device 60 sorts the gangue, the gangue is more likely to roll off the conveyor belt 14 into the receiving box 11, thereby reducing the output force of the manipulator 62, and reducing the friction between the gangue and the conveyor belt 14, and preventing the gangue from damaging the conveyor belt 14.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gangue identification and sorting system for identifying and sorting gangue in raw coal, characterized in that: include: A conveying device (10) for conveying raw coal, wherein both sides of a conveying route of the conveying device (10) are provided with receiving boxes (11); A feed hopper (20) is arranged at the conveying starting end of the conveying device (10); A surface treatment device (30) is disposed downstream of the feed hopper (20) and is used to purge the raw coal; A flow dividing device (40) is arranged downstream of the surface treatment device (30) and is used to divide the raw coal on the conveying device (10) into at least two columns; A visual identification device (50), disposed downstream of the diversion device (40), for identifying gangue in the raw coal; A sorting device (60) is arranged downstream of the visual recognition device (50) and is used to sort the gangue identified by the visual recognition device (50) into the containing box (11); as well as a control device, the control device being electrically connected to the conveying device (10), the visual recognition device (50) and the sorting device (60) so as to control the operation of the conveying device (10), the visual recognition device (50) and the sorting device (60); The flow diverter device (40) comprises a first gantry (41) and a flow diverter assembly (42) arranged on the first gantry (41); the flow diverter assembly (42) is in a "V" shape as a whole, and the tip of the flow diverter assembly (42) faces the conveying start end of the conveying device (10); The bottom end of the flow dividing component (42) is flush with the upper surface of the conveying device (10); The flow diversion component (42) is slidably connected to the first gantry (41), so that the flow diversion component (42) can slide up and down relative to the first gantry (41); The flow dividing device (40) further comprises a first driving component for driving the flow dividing assembly (42) to slide, and the control device is electrically connected to the first driving component to control the operation of the driving component; A sensor is provided upstream of the diverter device (40) for measuring the height of the raw coal on the conveyor device (10), and the sensor is electrically connected to the control device to transmit the measured data to the control device; When the height of the raw coal on the conveying device (10) is measured to be greater than a preset value, the control device controls the first driving component to operate so as to raise the diverter assembly (42); The sorting device (60) comprises a second gantry (61) and a manipulator (62) arranged on the second gantry (61), wherein the manipulator (62) is located on one side of the containing box (11); The sorting device (60) further comprises a second driving component, a guide rail is arranged on the crossbeam of the second gantry (61), the direction of the guide rail is perpendicular to the conveying direction of the conveying device (10), the manipulator (62) is arranged on the guide rail and can move along the guide rail under the drive of the second driving component, and the control device is electrically connected to the second driving component to control the operation of the second driving component; The width of the movable portion of the robot (62) is greater than the width of the conveying device (10); The gangue identification and sorting system comprises at least two sorting devices (60), and the at least two sorting devices (60) are both arranged downstream of the visual identification device (50) and are arranged at intervals; The receiving boxes (11) are arranged on both sides of each of the sorting devices (60); The conveying device (10) comprises: a third driving component (12), a bracket (13), a plurality of rolling components arranged on the bracket (13), and a conveyor belt (14) laid on the plurality of rolling components and driven by the driving component (12); The plurality of rolling components are used to support the conveyor belt (14); The portion of rolling components close to the sorting device (60) is higher in the middle and lower on both sides in the cross section of the conveyor belt (14), so that the portion of the conveyor belt (14) at this position bulges from both sides to the middle.

2. The gangue identification and sorting system according to claim 1, characterized in that: A sensor is provided upstream of the sorting device (60) for measuring the height of the raw coal on the conveying device (10), and the sensor is electrically connected to the control device to transmit the measured data to the control device; When the height of the raw coal on the conveying device (10) is measured to be greater than a preset value, the control device controls the second driving component to operate so as to move the manipulator (62) to both sides of the conveying device (10).

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