Coal loading system and coal ash treatment method

Abstract

The present invention provides a coal raking system and a coal ash treatment method. The coal raking system includes: a coal raking device, which includes a rocker arm mechanism, a rake mechanism, and a lifting device. The rake mechanism is installed at one end of the rocker arm mechanism, and the other end of the rocker arm mechanism is used to connect to a steel structure frame. The rake mechanism is used to rake large coal pieces to the upper layer of the coal pile. The lifting device is connected to the steel structure frame and is used to adjust the height of one end of the rocker arm mechanism; a three-dimensional depth camera, which is used to obtain coal piece data; a control unit. The three-dimensional depth camera and the lifting device are both electrically connected to the control unit. The control unit is used to receive the coal piece data obtained by the three-dimensional depth camera, analyze and process the coal piece data, and the control unit controls the lifting device to adjust the depth of the rake mechanism inserted into the coal pile. Through this solution, it is possible to solve the problem in the prior art that as the train travels at high speed, the path of the train will be covered by the coal ash blown up, causing serious pollution to the environment.

Description

Technical Field

[0001] The present invention relates to the technical field of coal block transportation, and more particularly, to a coal raking system and a coal ash treatment method. Background Art

[0002] When the train carriage is loaded with coal at the loading site, due to the difference in coal quality, in most cases, the top layer of coal blocks and the coal surface in the coal pile in the train carriage are generally mixed together. When the coal surface is on the upper surface of the coal blocks, as the train travels at high speed, the wind will blow up the coal surface on the surface of the coal blocks, and the path of the train will be covered by the blown-up coal ash, which will cause serious pollution to the environment.

[0003] In response to the above problems, there are currently two main solutions: the first is to cover the train carriage with tarpaulins to prevent the wind from blowing up the coal surface, and the second is to install a dust suppressant spraying system to suppress the coal ash by spraying the dust suppressant.

[0004] Among them, the first solution requires a lot of tarpaulins to be arranged, with high labor and material costs. In the second solution, it is difficult for the dust suppressant spraying system to suppress all the coal ash, and the suppression effect is average. Moreover, after the coal ash dries up later, it will still be blown up by the wind.

[0005] In summary, there is always a lack of an effective treatment solution for the problem that the coal surface presses on the upper surface of the coal blocks during the loading process, resulting in the coal surface being blown up by the wind during the train's travel and causing environmental pollution. Summary of the Invention

[0006] The present invention provides a coal raking system and a coal ash treatment method to solve the problem in the prior art that as the train travels at high speed, the path of the train will be covered by the blown-up coal ash, causing serious pollution to the environment.

[0007] To solve the above problems, according to one aspect of the present invention, a coal raking system is provided, including: a coal raking device, the coal raking device includes a rocker arm mechanism, a rake mechanism and a lifting device, the rake mechanism is installed at one end of the rocker arm mechanism, the other end of the rocker arm mechanism is used to connect to a steel structure frame, the rake mechanism is used to rake large coal blocks to the upper layer of the coal pile, the lifting device is connected to the steel structure frame, and the lifting device is used to adjust the height of one end of the rocker arm mechanism; a three-dimensional depth camera, the three-dimensional depth camera is used to obtain coal block data; a control unit, both the three-dimensional depth camera and the lifting device are electrically connected to the control unit, the control unit is used to receive the coal block data obtained by the three-dimensional depth camera, analyze and process the coal block data, and the control unit controls the lifting device to adjust the depth of the rake mechanism inserted into the coal pile.

[0008] Furthermore, the rake mechanism includes a connecting member, a pipe body, and a rake tooth structure. One end of the connecting member is connected to the pipe body, and the other end of the connecting member is detachably connected to the rocker arm mechanism. The rake tooth structure is arranged at the bottom of the pipe body and is used to rake large pieces of coal to the upper layer of the coal pile.

[0009] Furthermore, the rake tooth structure includes a plurality of first rake teeth and a plurality of second rake teeth. The first rake teeth and the second rake teeth are alternately arranged in sequence along the length direction of the pipe body, and the distance between the tooth end of the first rake tooth and the pipe body is greater than the distance between the tooth end of the second rake tooth and the pipe body.

[0010] Furthermore, the first rake tooth includes a first tooth member and a second tooth member connected to each other. The rake tooth structure further includes a reinforcing plate. The first tooth member and the second tooth member are perpendicular to each other. The first tooth member is connected to the pipe body. One end of the reinforcing plate is connected to the first tooth member, and the other end of the reinforcing plate is connected to the second tooth member.

[0011] Furthermore, the second tooth member includes a first claw member and a second claw member connected to each other. The first claw member is connected to the first tooth member. There is an included angle between the first claw member and the second claw member. The second claw member is arranged in the direction towards the first tooth member. Both the first claw member and the second claw member are connected to the other end of the reinforcing plate; the structure of the second rake tooth is the same as that of the first rake tooth.

[0012] Furthermore, the minimum distance between the first rake tooth and the second rake tooth along the length direction of the pipe body is 65 mm - 75 mm.

[0013] Furthermore, the coal raking device further includes a compaction cylinder. The compaction cylinder is installed at one end of the rocker arm mechanism. The bottom end of the compaction cylinder is higher than the bottom end of the rake mechanism. The compaction cylinder is used to compact the large pieces of coal raked up.

[0014] Furthermore, the connecting member includes a mounting beam, a connecting plate, and a top plate. The top of the mounting beam is fixedly connected to the rocker arm mechanism. The top plate is fixedly connected to the top of the pipe body. The connecting plate includes a first plate body and a second plate body connected to each other. The first plate body and the second plate body are perpendicularly arranged. The first plate body is fixedly connected to the bottom of the mounting beam, and the second plate body is detachably connected to the connecting member.

[0015] Furthermore, the rocker arm mechanism includes a rocker arm frame and at least one hanging ear. The hanging ear is fixedly connected to one end of the rocker arm frame. The rake mechanism is installed at one end of the rocker arm frame. The other end of the rocker arm frame is used to be connected to the steel structure frame;

[0016] The hoisting device is a winch. The winch is installed on the steel structure frame. The free end of the steel wire rope in the winch is connected to the hanging ear.

[0017] Further, the coal raking device further includes a cross beam. The rocker arm frame includes two symmetrically arranged rockers. A plurality of cross bars are welded between the two rockers. One ends of the two rockers are rotatably connected to the cross beam. A cross plate is fixedly arranged between the other ends of the two cross bars. The hanging ear is fixed on the cross plate.

[0018] According to another aspect of the present invention, there is provided a method for treating coal ash. The method for treating coal ash is applied to the above-mentioned coal raking system, and includes:

[0019] S1: The train travels in the direction of the coal raking device, and the control unit controls the lowering amount of the lifting device, so that the rocker arm mechanism drives the rake mechanism to insert into the coal pile in the train carriage;

[0020] S2: The train continues to travel, and the large coal blocks are raked to the upper layer of the coal pile through the rake mechanism;

[0021] S3: The coal block data is acquired by using a three-dimensional depth camera, and the coal block data is sent to the control unit. The control unit analyzes and processes the coal block data to obtain the actual block size distribution rate. The control unit compares the actual block size distribution rate with a preset block size distribution rate threshold, and adjusts the lowering amount of the lifting device according to the comparison result.

[0022] Applying the technical solution of the present invention, a coal raking system is provided, including: a coal raking device, which includes a swing arm mechanism, a rake mechanism and a lifting device. The rake mechanism is installed at one end of the swing arm mechanism, and the other end of the swing arm mechanism is used to connect to a steel structure frame. The rake mechanism is used to rake large coal pieces to the upper layer of the coal pile. The lifting device is connected to the steel structure frame and is used to adjust the height of one end of the swing arm mechanism; a three-dimensional depth camera, which is used to obtain coal block data; a control unit. The three-dimensional depth camera and the lifting device are both electrically connected to the control unit. The control unit is used to receive the coal block data obtained by the three-dimensional depth camera, analyze and process the coal block data, and the control unit controls the lifting device to adjust the depth of the rake mechanism inserted into the coal pile. With this solution, when using the three-dimensional depth camera to obtain the coal block image, the distance data from the camera to the coal pile is also obtained. According to the similarity triangle principle, the actual size of the coal block is calculated. The processor in the control unit counts the number of coal blocks in each diameter interval to obtain the actual size distribution rate. The computer compares the actual size distribution rate with the preset size distribution rate threshold. If the actual size distribution rate is less than the preset size distribution rate threshold, the lowering amount of the lifting device is adjusted and controlled, and the depth of the coal raking device inserted into the coal pile is adjusted. Then, it is detected and compared again until the actual size distribution rate falls within the size distribution threshold, and then the adjustment of the lowering amount of the lifting device is stopped; if the actual size distribution rate falls within the preset size distribution rate threshold, or the actual size distribution rate exceeds the preset size distribution rate threshold, the adjustment of the lowering amount of the lifting device is stopped. In this way, as the train travels, the coal raking device can always rake more large coal pieces to cover the coal ash, greatly reducing the amount of the coal surface on the upper layer of the coal pile being blown into the air and protecting the environment. Among them, the coal blocks include large coal pieces, medium coal pieces and small coal pieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0024] Figure 1 shows a schematic structural diagram of the coal raking system provided by the embodiment of the present invention;

[0025] Figure 2 is a side view of the coal raking device and the lifting device provided by the embodiment of the present invention;

[0026] Figure 3 is a perspective view of the coal raking device provided by the embodiment of the present invention;

[0027] Figure 4 is a perspective view of the rake mechanism provided by the embodiment of the present invention;

[0028] Figure 5 is a side view of the rake mechanism provided by the embodiment of the present invention;

[0029] Figure 6 The rear view of the rake mechanism provided by the embodiment of the present invention;

[0030] Figure 7 The perspective view of the rake mechanism provided by the embodiment of the present invention after removing the connecting member;

[0031] Figure 8 The side view of the rake mechanism provided by the embodiment of the present invention after removing the connecting member.

[0032] Among them, the above-mentioned drawings include the following reference numerals:

[0033] 10, coal raking device; 11, rocker arm mechanism; 111, rocker arm frame; 112, hanging ear; 113, cross plate; 12, rake mechanism; 121, connecting member; 1211, mounting beam; 1212, connecting plate; 1213, top plate; 122, pipe body; 123, rake tooth structure; 1231, first rake tooth; 12311, first tooth member; 12312, second tooth member; 12313, first claw member; 12314, second claw member; 1232, second rake tooth; 1233, reinforcing plate; 13, lifting device; 14, compaction cylinder; 15, cross beam;

[0034] 20, steel structure frame. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way restrictive of the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0036] Such as Figures 1 to 8As shown in the figure, an embodiment of the present invention provides a coal raking system, including: a coal raking device 10, the coal raking device 10 includes a rocker arm mechanism 11, a rake mechanism 12 and a lifting device 13, the rake mechanism 12 is installed at one end of the rocker arm mechanism 11, and the other end of the rocker arm mechanism 11 is used to connect to the steel structure frame 20, the rake mechanism 12 is used to rake large coal blocks to the upper layer of the coal pile, the lifting device 13 is connected to the steel structure frame 20, and the lifting device 13 is used to adjust the height of one end of the rocker arm mechanism 11; a three-dimensional depth camera, the three-dimensional depth camera is used to obtain coal block data; a control unit, the three-dimensional depth camera and the lifting device 13 are both electrically connected to the control unit, the control unit is used to receive the coal block data obtained by the three-dimensional depth camera, and analyze and process the coal block data, and the control unit controls the lifting device 13 to adjust the depth of the rake mechanism 12 inserted into the coal pile.

[0037] With this solution, while obtaining the coal block image using the three-dimensional depth camera, the distance data from the camera to the coal pile is also obtained. According to the similarity triangle rule, the actual size of the coal block is calculated. The processor in the control unit counts the number of coal blocks in each diameter interval to obtain the actual block size distribution rate. The computer compares the actual block size distribution rate with the preset block size distribution rate threshold. If the actual block size distribution rate is less than the preset block size distribution rate threshold, the lowering amount of the lifting device 13 is adjusted and controlled, and the depth of the coal raking device 10 inserted into the coal pile is adjusted. Then, it is detected and compared again until the actual block size distribution rate falls within the block size threshold, and then the adjustment of the lowering amount of the lifting device 13 is stopped; if the actual block size distribution rate falls within the preset block size distribution rate threshold, or the actual block size distribution rate exceeds the preset block size distribution rate threshold, the adjustment of the lowering amount of the lifting device 13 is stopped. In this way, as the train travels, the coal raking device 10 can always rake more large coal blocks to cover the coal ash, greatly reducing the amount of the coal surface on the upper layer of the coal pile being blown into the air and protecting the environment. Among them, the coal blocks include large coal blocks, medium coal blocks and small coal blocks.

[0038] It should be noted that in recent years, research institutions and machine vision technology companies in many countries around the world have been successively developing automatic ore block size detection systems, including the Wipfrag machine vision system developed by the University of Waterloo in Canada; the SplitOnline online object block size analysis system developed by the University of Arizona in the United States; the VisioRock fully automatic vision system launched by Metso; Mukherjee uses the method of feature learning to segment oil sand ore images; Amankwah et al. use meanshift clustering to obtain the ore region, generate a labeled image, and then use the watershed algorithm based on marker control to segment the image; Michael Noy uses close-range digital photography technology to measure the rock block size; VVSuprunenko1 uses deep learning methods for ore block size segmentation.

[0039] Many domestic research institutions and companies are also continuously developing automatic ore lump size detection systems. These include: the BOSAII ore lump size image analyzer developed by the Beijing General Research Institute of Mining and Metallurgy; Dong Ke's segmentation of ore images using an improved watershed segmentation algorithm; Wang Yajing et al.'s use of entropy rate superpixel segmentation to divide the image into a series of compact images using entropy rate superpixel image segmentation.

[0040] In this embodiment, an existing coal lump size detection method based on the YOLOV5 image recognition algorithm and a three-dimensional depth camera is adopted. When calculating the size of coal lumps, only the focal length parameter and pixel size parameter of the three-dimensional depth camera need to be set, and the actual size of the coal lumps can be calculated through the principle of similar triangles, without the need to calibrate the camera and place markers in advance as in the case of traditional two-dimensional cameras. Therefore, the practicality of the detection is greatly improved.

[0041] Moreover, it combines the YOLOV5 object detection algorithm with the watershed segmentation algorithm. First, it detects the specific position of the stones and then analyzes the contour of the ore, avoiding a large number of misjudgments and having good anti-interference performance.

[0042] Optionally, other detection methods for calculating the size of coal lumps can also be used.

[0043] Among them, the rake mechanism 12 includes a connecting piece 121, a pipe body 122, and a rake tooth structure 123. One end of the connecting piece 121 is connected to the pipe body 122, and the other end of the connecting piece 121 is detachably connected to the rocker arm mechanism 11. The rake tooth structure 123 is arranged at the bottom of the pipe body 122, and the rake tooth structure 123 is used to rake large pieces of coal to the upper layer of the coal pile.

[0044] In this solution, the other end of the connecting piece 121 is connected to the rocker arm mechanism 11 through a fastener. The connecting piece 121 has multiple rows of first mounting holes, and the rocker arm mechanism 11 has multiple rows of second mounting holes. The first mounting holes can be selectively connected to the second mounting holes through fasteners, so as to adjust the setting height of the rake mechanism 12.

[0045] Specifically, the rake tooth structure 123 includes a plurality of first rake teeth 1231 and a plurality of second rake teeth 1232. The first rake teeth 1231 and the second rake teeth 1232 are alternately arranged in sequence along the length direction of the pipe body 122, and the distance between the tooth tip of the first rake tooth 1231 and the pipe body 122 is greater than the distance between the tooth tip of the second rake tooth 1232 and the pipe body 122. Since there is a row of first rake teeth 1231 and a row of second rake teeth 1232, the number of rake teeth is large and the gap between the rake teeth is small, so that most of the larger coal lumps can be raked up. In addition, since the first rake teeth 1231 and the second rake teeth 1232 are staggered in the front-back direction, large coal lumps are not easily stuck in the gap between the rake teeth when raking coal, improving the coal raking efficiency. In this solution, both the first rake teeth 1231 and the second rake teeth 1232 are hook-shaped, and the tooth tips of the first rake teeth 1231 and the second rake teeth 1232 face downward.

[0046] Optionally, the tooth tips of the first rake teeth 1231 and the second rake teeth 1232 are quenched to increase the wear resistance of the tooth tips.

[0047] Among them, the pipe body 122 is a circular pipe, and a plurality of mounting holes are evenly opened on the circular pipe along the length direction of the circular pipe. Both the first rake teeth 1231 and the second rake teeth 1232 are inserted into and welded to the circular holes on the circular pipe. In addition to being a circular pipe, the pipe body 122 can also be set as a square pipe.

[0048] Furthermore, the first rake tooth 1231 includes a first tooth member 12311 and a second tooth member 12312 connected to each other. The rake tooth structure 123 further includes a reinforcing plate 1233. The first tooth member 12311 and the second tooth member 12312 are perpendicular to each other. The first tooth member 12311 is connected to the pipe body 122. One end of the reinforcing plate 1233 is connected to the first tooth member 12311, and the other end of the reinforcing plate 1233 is connected to the second tooth member 12312. Connecting one end of the reinforcing plate 1233 to the first tooth member 12311 and the other end of the reinforcing plate 1233 to the second tooth member 12312 can strengthen the structural strength of the first rake tooth 1231.

[0049] Among them, the second tooth member 12312 includes a first claw member 12313 and a second claw member 12314 connected to each other. The first claw member 12313 is connected to the first tooth member 12311. There is an included angle between the first claw member 12313 and the second claw member 12314. The second claw member 12314 is arranged in the direction towards the first tooth member 12311. Both the first claw member 12313 and the second claw member 12314 are connected to the other end of the reinforcing plate 1233; the structure of the second rake tooth 1232 is the same as the structure of the first rake tooth 1231. With the above arrangement, it is convenient to rake up large coal lumps.

[0050] Specifically, the minimum distance between the first rake tooth 1231 and the second rake tooth 1232 along the length direction of the pipe body 122 is 65 mm - 75 mm. Limiting the minimum distance between the first rake tooth 1231 and the second rake tooth 1232 along the length direction of the pipe body 122 within the above numerical range can ensure that most of the larger coal lumps can be raked up.

[0051] In this embodiment, the coal raking device 10 further includes a compaction cylinder 14. The compaction cylinder 14 is installed at one end of the swing arm mechanism 11. The bottom end of the compaction cylinder 14 is higher than the bottom end of the rake mechanism 12. The compaction cylinder 14 is used to compact the large coal lumps raked up.

[0052] Since the rake mechanism 12 is lower than the compaction cylinder 14, when the swing arm mechanism 11 rotates and descends, the rake mechanism 12 contacts the coal pile earlier than the compaction cylinder 14. When the rake mechanism 12 is inserted into the coal pile, the compaction cylinder 14 just contacts the upper surface of the coal pile. As the train carriage moves, the rake mechanism 12 rakes up the large coal lumps, and at the same time, the compaction cylinder 14 levels and compacts the upper-layer large coal lumps.

[0053] Specifically, the connecting member 121 includes a mounting beam 1211, a connecting plate 1212, and a top plate 1213. The top of the mounting beam 1211 is fixedly connected to the swing arm mechanism 11, and the top plate 1213 is fixedly connected to the top of the pipe body 122. The connecting plate 1212 includes a connected first plate body and a second plate body. The first plate body and the second plate body are perpendicularly arranged. The first plate body is fixedly connected to the bottom of the mounting beam 1211, and the second plate body is detachably connected to the connecting member 121.

[0054] Among them, there are multiple top plates 1213. The multiple top plates 1213 are all vertically welded to the top of the pipe body 122. First mounting holes are provided on the top plate 1213, and the mounting beam 1211 is located above the top plate 1213;

[0055] The connecting plate 1212 can connect the top plate 1213 and the mounting beam 1211. The connecting plate 1212 is L-shaped and includes a connected first plate body and a second plate body. The first plate body and the second plate body are perpendicularly arranged. Second mounting holes corresponding to the first mounting holes are provided on the first plate body. In this way, bolts are used to pass through the second mounting holes on the first plate body and the first mounting holes on the top plate 1213. The bolt heads are blocked by the second mounting holes and cannot pass through the second mounting holes, and then nuts are screwed onto the rod ends of the bolts and the nuts are further tightened, so as to fix the top plate 1213 and the first plate body.

[0056] Further, the second plate body is parallel to the lower surface of the mounting beam 1211. A plurality of through holes are provided on the second plate body, and a plurality of threaded holes are provided at positions corresponding to the through holes on the lower surface of the mounting beam 1211. In this way, bolts are inserted into the through holes on the second plate body from bottom to top, and then the bolts are rotated. The bolts are further screwed into the threaded holes on the mounting beam 1211 to complete the fixation of the second plate body and the mounting beam 1211.

[0057] It should be noted that: there are multiple top plates 1213 and connecting plates 1212, and the specific quantity can be reasonably selected according to the length of the pipe body 122.

[0058] Optionally, in order to improve the strength of the connecting plate 1212, a reinforcing plate is welded on the connecting plate 1212. The reinforcing plate is in the shape of a right triangle, and its two right sides are respectively welded to the first plate body and the second plate body.

[0059] In this embodiment, the rocker arm mechanism 11 includes a rocker arm frame 111 and at least one hanger ear 112. The hanger ear 112 is fixedly connected to one end of the rocker arm frame 111. The rake mechanism 12 is installed at one end of the rocker arm frame 111, and the other end of the rocker arm frame 111 is used to connect to the steel structure frame 20;

[0060] The hoisting device 13 is a winch, which is installed on the steel structure frame 20. The free end of the steel wire rope in the winch is connected to the hanger ear 112.

[0061] Among them, the coal raking device 10 further includes a cross beam 15. The rocker arm frame 111 includes two symmetrically arranged rocker bars. A plurality of cross bars are welded between the two rocker bars. One end of each of the two rocker bars is rotatably connected to the cross beam 15. A cross plate 113 is fixedly arranged between the other ends of the two cross bars. The hanger ear 112 is fixed on the cross plate 113.

[0062] Optionally, there are two winches. Both winches are installed on the steel structure frame 20. Two hanger ears 112 are symmetrically arranged at the top of the cross plate 113. The steel wire ropes on the two winches are respectively connected to the two hanger ears 112. The two winches are started and operated simultaneously, and the length of the steel wire rope released each time is kept the same, so as to lower or lift the rocker arm mechanism 11. Setting two winches has better safety and improves the safety.

[0063] Optionally, in this embodiment, the lowering amount of the winch can also be manually controlled according to the actual situation on site, and the depth of the rake mechanism 12 inserted into the coal pile can be manually adjusted. For example, manually observe the quantity of large coal blocks and the covering effect of large coal blocks covering the coal blocks. If the covering effect is good, the lowering amount of the winch is not adjusted. If the covering effect is not good, the lowering amount of the winch is adjusted, and then observe the covering effect again, and so on until the covering effect meets the standard.

[0064] Another embodiment of the present invention provides a method for treating coal ash. The method for treating coal ash is applied to the coal raking system described above and includes:

[0065] S1: The train travels towards the coal raking device 10, and the control unit controls the lowering amount of the lifting device 13, so that the rocker arm mechanism 11 drives the rake mechanism 12 to insert into the coal pile in the train carriage;

[0066] S2: The train continues to travel, and the rake mechanism 12 rakes the large coal blocks to the upper layer of the coal pile;

[0067] S3: Use a three-dimensional depth camera to obtain coal block data, and send the coal block data to the control unit. The control unit analyzes and processes the coal block data to obtain the actual block size distribution rate. The control unit compares the actual block size distribution rate with a preset block size distribution rate threshold, and adjusts the lowering amount of the lifting device 13 according to the comparison result.

[0068] Specifically, the winch lowers the steel wire rope according to the value set by the computer. The rocker arm mechanism 11 rotates around the connection with the cross beam 15 and descends a fixed distance, and the rake mechanism 12 descends a fixed height so as to insert into the coal pile at a fixed depth;

[0069] Specifically, the train continues to travel, and the rake mechanism 12 rakes the coal blocks at a fixed depth to the upper surface of the coal pile;

[0070] Specifically, while the three-dimensional depth camera obtains the coal block image, it also obtains the distance data from the camera to the coal block. According to the similar triangle rule, the actual size of the ore is calculated. The processor in the computer counts the number of ore blocks in each diameter interval to obtain the actual block size distribution rate. The computer compares the actual block size distribution rate with a preset block size distribution rate threshold. If the actual block size distribution rate is less than the preset block size distribution rate threshold, the lowering amount of the lifting device 13 is adjusted once, and the depth at which the rake mechanism 12 inserts into the coal pile is adjusted once, and then detected and compared again until the actual block size distribution rate falls within the preset block size distribution threshold or is greater than the preset block size distribution threshold, then the adjustment of the lowering amount of the lifting device 3 is stopped;

[0071] If the actual block size distribution rate falls within the preset block size distribution rate threshold, or the actual block size distribution rate exceeds the preset block size distribution rate threshold, then the adjustment of the lowering amount of the lifting device 13 is stopped.

[0072] Among them, in the first step, the winch is lowered to the maximum value, that is, at this time, the steel wire rope of the winch does not pull the rocker arm mechanism 11, and the rake mechanism 12 inserts into the coal pile in a natural state. At this time, the rake mechanism 12 reaches the maximum insertion depth.

[0073] It should be noted that, assuming that in the first step, the depth at which the rake mechanism 12 is inserted into the coal pile is 60 cm, the computer compares the actual lump size distribution rate with the preset lump size distribution rate threshold. If the actual lump size distribution rate falls within or exceeds the preset lump size distribution rate threshold, the lowering amount of the hoist is stopped;

[0074] If the actual lump size distribution rate is less than the preset lump size distribution rate threshold, the computer controls the hoist to pull the rake mechanism 12 up by 10 cm;

[0075] Then, the actual lump size distribution rate is detected again, and it is compared with the preset lump size distribution rate threshold. If the lump size distribution rate is still less than the preset lump size distribution rate threshold, the computer controls the hoist to pull the rake mechanism 12 up by 10 cm again until the actual lump size distribution rate falls within or is greater than the preset lump size distribution rate threshold.

[0076] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0077] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the sizes of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0078] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. Without contrary statements, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0079] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "upper...", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to cover different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0080] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without additional statements, the above words have no special meanings. Therefore, it should not be construed as a limitation on the protection scope of the present invention.

[0081] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A coal raking system, characterized in that, Comprising: A coal raking device (10), the coal raking device (10) includes a rocker arm mechanism (11), a rake mechanism (12) and a lifting device (13), the rake mechanism (12) is installed at one end of the rocker arm mechanism (11), the other end of the rocker arm mechanism (11) is used to connect to a steel structure frame (20), the rake mechanism (12) is used to rake large pieces of coal to the upper layer of the coal pile, the lifting device (13) is connected to the steel structure frame (20), and the lifting device (13) is used to adjust the height of one end of the rocker arm mechanism (11); A three-dimensional depth camera, which is used to obtain coal block data; A control unit, the three-dimensional depth camera and the lifting device (13) are both electrically connected to the control unit, the control unit is used to receive the coal block data obtained by the three-dimensional depth camera, analyze and process the coal block data, and the control unit controls the lifting device (13) to adjust the depth of the rake mechanism (12) inserted into the coal pile; The rake mechanism (12) includes a connecting piece (121), a pipe body (122) and a rake tooth structure (123), one end of the connecting piece (121) is connected to the pipe body (122), the other end of the connecting piece (121) is detachably connected to the rocker arm mechanism (11), and the rake tooth structure (123) is arranged at the bottom of the pipe body (122), and the rake tooth structure (123) is used to rake large pieces of coal to the upper layer of the coal pile; The coal raking device (10) further includes a compaction cylinder (14), the compaction cylinder (14) is installed at one end of the rocker arm mechanism (11), the bottom end of the compaction cylinder (14) is higher than the bottom end of the rake mechanism (12), and the compaction cylinder (14) is used to compact the raked large pieces of coal.

2. The coal raking system according to claim 1, characterized in that, The rake tooth structure (123) includes a plurality of first rake teeth (1231) and a plurality of second rake teeth (1232), the first rake teeth (1231) and the second rake teeth (1232) are arranged alternately in sequence along the length direction of the pipe body (122), and the distance between the tooth end of the first rake tooth (1231) and the pipe body (122) is greater than the distance between the tooth end of the second rake tooth (1232) and the pipe body (122).

3. The coal raking system according to claim 2, characterized in that, The first rake tooth (1231) includes a first tooth member (12311) and a second tooth member (12312) connected to each other, the rake tooth structure (123) further includes a reinforcing plate (1233), the first tooth member (12311) and the second tooth member (12312) are perpendicular to each other, the first tooth member (12311) is connected to the pipe body (122), one end of the reinforcing plate (1233) is connected to the first tooth member (12311), and the other end of the reinforcing plate (1233) is connected to the second tooth member (12312).

4. The coal raking system according to claim 3, wherein, The second tooth member (12312) includes a first claw member (12313) and a second claw member (12314) that are connected to each other. The first claw member (12313) is connected to the first tooth member (12311). There is an included angle between the first claw member (12313) and the second claw member (12314). The second claw member (12314) is arranged in the direction towards the first tooth member (12311). Both the first claw member (12313) and the second claw member (12314) are connected to the other end of the reinforcing plate (1233). The structure of the second rake tooth (1232) is the same as that of the first rake tooth (1231).

5. The coal raking system according to claim 2, characterized in that, The minimum distance between the first rake tooth (1231) and the second rake tooth (1232) along the length direction of the pipe body (122) is 65 mm - 75 mm.

6. The coal raking system according to claim 1, characterized in that, The connecting member (121) includes a mounting beam (1211), a connecting plate (1212), and a top plate (1213). The top of the mounting beam (1211) is fixedly connected to the rocker arm mechanism (11). The top plate (1213) is fixedly connected to the top of the pipe body (122). The connecting plate (1212) includes a first plate body and a second plate body that are connected to each other. The first plate body and the second plate body are perpendicularly arranged. The first plate body is fixedly connected to the bottom of the mounting beam (1211). The second plate body is detachably connected to the connecting member (121).

7. The coal raking system according to claim 1, characterized in that, The rocker arm mechanism (11) includes a rocker arm frame (111) and at least one hanging ear (112). The hanging ear (112) is fixedly connected to one end of the rocker arm frame (111). The rake mechanism (12) is installed at one end of the rocker arm frame (111). The other end of the rocker arm frame (111) is used to be connected to the steel structure frame (20). The lifting device (13) is a winch. The winch is installed on the steel structure frame (20). The free end of the steel wire rope in the winch is connected to the hanging ear (112).

8. The coal raking system according to claim 7, characterized in that, The coal raking device (10) further includes a cross beam (15). The rocker arm frame (111) includes two symmetrically arranged rocker arms. A plurality of cross bars are welded between the two rocker arms. One end of each of the two rocker arms is rotatably connected to the cross beam (15). A cross plate (113) is fixedly arranged between the other ends of the plurality of cross bars. The hanging ear (112) is fixed to the cross plate (113).

9. A method for treating coal ash, characterized in that, The coal ash treatment method is applied to the coal raking system according to any one of claims 1 to 8, and includes: S1: The train travels towards the coal raking device (10). The control unit controls the lowering amount of the lifting device (13) so that the rocker arm mechanism (11) drives the rake mechanism (12) to insert into the coal pile in the train carriage; S2: The train continues to travel, and the large coal pieces are raked up to the upper layer of the coal pile by the rake mechanism (12); S3: Obtain coal block data by using the three-dimensional depth camera, and send the coal block data to the control unit. The control unit analyzes and processes the coal block data to obtain the actual block size distribution rate. The control unit compares the actual block size distribution rate with a preset block size distribution rate threshold, and adjusts the lowering amount of the lifting device (13) according to the comparison result.

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