Coal gangue and ironware sorting system and sorting method

Abstract

The application discloses a coal gangue and ironware sorting system and a sorting method. The coal gangue and ironware sorting system comprises a conveying belt, coal, gangue and ironware are conveyed on the conveying belt, a mechanical arm is arranged on one side of the conveying belt, an end effector is arranged on an execution end of the mechanical arm, the end effector is used for pushing away the gangue from the conveying belt, the end effector is also used for sucking the ironware from the conveying belt, and an ironware unloading device is arranged on the other side of the conveying belt and is used for stripping the ironware from the end effector. The coal gangue and ironware sorting system has the advantages that the gangue and the ironware in the coal can be effectively stripped.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of sorting system, and particularly relates to a coal gangue and ironware sorting system and a sorting method. BACKGROUND

[0002] As the main energy source in the human production process, coal mines are still slightly lagging behind in the mining process due to the particularity of the working environment. Many of their work positions are still performed by various types of miners. The sorting work of coal gangue generated in the process of coal mining is still cumbersome. The ironware in the coal flow is also an important work in the sorting work. Because the ironware may cause the jamming of the vibrating screen or the crusher during the coal transportation process. At present, the main way to remove the ironware is to set a large ironware suction device above the belt. However, the existence of the strong magnet has the risk of harming the human body. In addition, the actual use effect is not ideal. Because most of the ironware is pressed under the gangue or coal, the effect of the ironware suction device is too poor due to the too long distance. SUMMARY

[0003] The present application aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, the present application provides a coal gangue and ironware sorting system and a sorting method, which has the advantage of effectively stripping the gangue and ironware in the coal.

[0005] The coal gangue and ironware sorting system according to an embodiment of the present application comprises: a conveying belt, which conveys coal, gangue and ironware; a mechanical arm, which is arranged on one side of the conveying belt, and the execution end of the mechanical arm is provided with an end effector, which is used to push the gangue away from the conveying belt and to suck the ironware from the conveying belt; and an ironware unloader, which is arranged on the other side of the conveying belt and is used to strip the ironware from the end effector.

[0006] According to an embodiment of the present application, a visual recognition device is arranged above the conveying belt, which is located at the front end of the conveying belt and is used to identify the coal, gangue and ironware.

[0007] According to an embodiment of the present application, one side of the rear end of the conveying belt is provided with a gangue falling port, and the end effector can push the gangue into the gangue falling port.

[0008] According to an embodiment of the present application, the end effector comprises a connecting block and two push rods, one side of the connecting block is installed on the execution end of the mechanical arm through a flange, and the two push rods are vertically installed on the other side of the connecting block.

[0009] According to one embodiment of the present application, the distance between the two said poking rods is adjustable.

[0010] According to one embodiment of the present application, the poking rod comprises an inner layer of strong magnetic material and an outer layer of manganese steel shell.

[0011] According to one embodiment of the present application, the iron remover is provided with two vertical rods, the two vertical rods are arranged at intervals, and the distance between the two vertical rods is greater than the distance between the two said poking rods.

[0012] According to one embodiment of the present application, a sorting method is provided, which uses the coal and gangue and iron sorting system to sort, and comprises the following steps: step one, the visual recognition device visually recognizes the coal, gangue and iron conveyed on the conveying belt; step two, the mechanical arm controls the end effector to move the gangue to the gangue falling port; and step three, the end effector sucks the iron, and then the end effector is clamped into the iron remover to be horizontally separated, so that the iron is stripped from the end effector.

[0013] The present application has the advantages of simple structure, which uses the mechanical arm to control the end effector to move the gangue from the coal, and uses the iron remover to strip the iron adsorbed on the end effector, so that the gangue and iron in the coal can be effectively sorted out, and the problem that the iron is difficult to sort out because it is pressed.

[0014] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application.

[0015] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are referred to for detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments with reference to the accompanying drawings, in which:

[0017] Fig. 1 is a structural schematic view of a coal and gangue and iron sorting system according to the present application;

[0018] Fig. 2 is a structural schematic view of an end effector of the present application;

[0019] Fig. 3 is a schematic view of the present application in operation;

[0020] LIST OF REFERENCE NUMERALS:

[0021] Conveying belt 1, visual recognition device 2, mechanical arm 3, end effector 4, gangue falling port 5, iron remover 6, iron 7, connecting block 41, poking rod 42. DETAILED DESCRIPTION

[0022] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended only for explanation of the present application, and cannot be understood as limiting the present application.

[0023] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, features defined with "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0024] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0025] The coal and gangue, ironware sorting system and sorting method according to the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0026] As shown in Figs. 1-3 The coal and gangue, ironware sorting system and sorting method according to the embodiments of the present application, as shown in the drawings, comprises a conveyor belt 1, a mechanical arm 3 and an ironware unloader 6, the conveyor belt 1 conveying coal, gangue and ironware; the mechanical arm 3 is arranged on one side of the conveyor belt 1, the end effector 4 is mounted on the execution end of the mechanical arm 3, the end effector 4 is used to push the gangue away from the conveyor belt 1, and the end effector 4 is also used to suck the ironware from the conveyor belt 1; the ironware unloader 6 is arranged on the other side of the conveyor belt 1, and the ironware unloader 6 is used to peel the ironware from the end effector 4.

[0027] In other words, the coal mined in the mine is mixed with gangue and ironware, when conveying on the conveying belt 1, the end effector 4 is driven by the mechanical arm 3 to move horizontally, so as to push the gangue away from the conveying belt 1, and the end effector 4 can suck the ironware and take it to the ironware unloader 6, and the ironware is stripped from the end effector 4 by the ironware unloader 6.

[0028] In the embodiment, the conveying belt 1 is provided with a visual recognition device 2 above, the visual recognition device 2 is located at the front end of the conveying belt 1, and the visual recognition device 2 is used for identifying coal, gangue and ironware. The visual recognition device 2 is mainly a visual camera.

[0029] Further, one side of the rear end of the conveying belt 1 is provided with a gangue falling port 5, and the end effector 4 can push the gangue into the gangue falling port 5. The coal is conveyed from the rear end of the conveying belt 1, and the gangue falling port 5 is on the side of the rear end of the conveying belt 1, mainly used for collecting gangue.

[0030] Further, the end effector 4 comprises a connecting block 41 and two push rods 42, one side of the connecting block 41 is installed on the execution end of the mechanical arm 3 through a flange, and the two push rods 42 are installed vertically on the other side of the connecting block 41. The distance between the two push rods 42 is adjustable. In this way, the gangue can be adjusted according to the conventional size of the gangue, so as to facilitate the pushing of the gangue.

[0031] Preferably, the push rod 42 comprises a strong magnetic member in the inner layer and a manganese steel shell in the outer layer. The push rod 42 is rod-shaped, which can be easily inserted into the gap between the coal and the gangue, and the push rod 42 adopts a double-layer structure design, and the inside is a strong magnetic member. Because the strong magnetic material is relatively fragile, the outer part of the push rod 42 uses manganese steel material, which can meet the requirements of hard and wear-resistant push rod, and also meet the characteristics of strong magnetic and iron absorption.

[0032] According to an embodiment of the present application, the ironware unloader 6 has two vertical rods, the two vertical rods are arranged at intervals, and the distance between the two vertical rods is greater than the distance between the two push rods 42. In this way, the two push rods 42 can be placed between the two vertical rods, and the ironware can be stripped from the push rod 42 by using the vertical rod.

[0033] The present application also discloses a sorting method, which uses the coal and gangue sorting system described above, and comprises the following steps: step one: the visual recognition device 2 visually recognizes the coal, gangue and ironware conveyed on the conveying belt 1; step two: the mechanical arm 3 controls the end effector 4 to push the gangue to the gangue falling port 5; step three: the end effector 4 sucks the ironware, and then the end effector 4 is clamped into the ironware unloader 6 to be horizontally separated, so that the ironware is stripped from the end effector 4.

[0034] In combination Fig. 3As shown, after the iron ware 7 is sucked by the poking rod 42, the poking rod 42 is horizontally placed into the two vertical rods, and then is horizontally pulled away towards the direction of the conveying belt 1, and the iron ware 7 is separated from the poking rod 42 under the obstruction of the vertical rods.

[0035] The beneficial effect of the present application is that the present application has simple structure, the end effector 4 is controlled by the mechanical arm 3 to push the gangue away from the coal, and the iron ware is stripped from the end effector 4 by the iron ware stripper 6, the present application can effectively separate the gangue and the iron ware from the coal, and solves the problem that the iron ware is difficult to separate because of being pressed.

[0036] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0037] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A coal gangue and ironware sorting system, characterized in that, include: Conveyor belt (1), on which coal, gangue and ironware are transported; A robotic arm (3) is located on one side of the conveyor belt (1). An end effector (4) is installed at the execution end of the robotic arm (3). The end effector (4) is used to push the gangue away from the conveyor belt (1). The end effector (4) is also used to pick up ironware from the conveyor belt (1). Iron unloader (6), which is located on the other side of the conveyor belt (1), is used to remove iron from the end effector (4); The conveyor belt (1) has a gangue discharge port (5) on one side of its rear end, and the end effector (4) can push the gangue into the gangue discharge port (5). The end effector (4) includes a connecting block (41) and two levers (42). One side of the connecting block (41) is mounted on the execution end of the robotic arm (3) via a flange, and the two levers (42) are mounted vertically on the other side of the connecting block (41). The distance between the two levers (42) is adjustable. The lever (42) includes an inner strong magnetic component and an outer manganese steel shell; The unloader (6) has two vertical rods, which are spaced apart and the distance between the two vertical rods is greater than the distance between the two levers (42).

2. The coal gangue and ironware sorting system according to claim 1, characterized in that, A visual recognition device (2) is provided above the conveyor belt (1). The visual recognition device (2) is located at the front end of the conveyor belt (1) and is used to identify coal, gangue and ironware.

3. A sorting method, employing the coal gangue and ironware sorting system as described in claim 2, characterized in that, Includes the following steps, Step 1: The visual recognition device (2) performs visual recognition on the coal, gangue and ironware conveyed on the conveyor belt (1); Step 2: The robotic arm (3) controls the end effector (4) to move the gangue to the gangue dropping port (5); Step 3: The end effector (4) picks up the iron, and then the end effector (4) is inserted into the iron unloader (6) and pulled out horizontally so that the iron is peeled off from the end effector (4).

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