Rolling type sorting system capable of removing large foreign matters on belt and sorting method

Abstract

The invention discloses a rolling type sorting system capable of removing large foreign matters on a belt and a sorting method.The sorting system comprises a conveying belt and a control device, an image recognition device and a shifting device are sequentially arranged in the conveying direction of the conveying belt, and a rolling material removing device is arranged on the shifting device; the image recognition device, the shifting device and the rolling material removing device are all in signal connection with the control device. The image recognition device, the shifting device and the rolling material removing device are controlled by the control device, manual participation is not needed in the whole large foreign matter sorting process, the personnel safety is guaranteed, the labor cost is reduced, and the production efficiency is improved. In addition, due to the fact that the foreign matter moves outwards in a rolling mode, sliding friction on the conveying belt is avoided, the conveying belt cannot be scratched, almost no coal briquettes are swept down by the conveying belt, loss of the coal briquettes and the conveying belt is avoided, and production halt caused by tearing of the conveying belt in the process is also avoided.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine sorting, and in particular to a rolling sorting system and a sorting method capable of removing large foreign objects on a belt. Background Art

[0002] Raw coal includes coal and various foreign matter (mainly gangue, other foreign matter is relatively less). If the foreign matter is not sorted out, the quality of coal will be affected. At present, the traditional washing methods in China mainly include manual sorting and mechanical washing. Manual sorting has gradually been replaced by intelligent sorting due to problems such as high personnel demand, low work efficiency, high labor intensity, poor working conditions, and serious impact on workers' physical and mental health. In recent years, the unmanned operation of intelligent coal mines has received widespread attention, and the research on unmanned sorting robots for mine foreign matter sorting has gradually deepened. The methods currently put into use mainly include air blowing method (for example), horizontal pushing method (also called toggle) (for example, CN 214865412 U) and grabbing method (for example, CN 219581080 U, CN219648145 U, CN 116100585 A) and other schemes.

[0003] However, the current solutions all have shortcomings: the air blowing method uses a blowing mechanism to spray air at the end of the belt to blow out foreign matter, but the air blowing force is limited and cannot blow large foreign matter, so the application of the air blowing method has certain limitations; the horizontal pushing method uses a manipulator, a lever and other actuators to directly push foreign matter off the belt. During the pushing process, the foreign matter slides on the belt, and the friction will be very large. When the foreign matter is large in size and weight, it is difficult to push, and the foreign matter slides and rubs directly on the belt, which will seriously wear the belt. If the foreign matter has sharp corners that touch the belt surface, a hard push may even tear the belt, causing the entire production line to stop production, and during the pushing process, the foreign matter will sweep down the coal along the way, causing losses; and the grasping method uses a manipulator to directly grab the foreign matter, move it to the discarding area outside the belt and put it down, but due to the influence of materials and power, the size of the manipulator is limited, and the ability to grab large foreign matter is also limited. Moreover, one cycle requires five steps of "grabbing, lifting, moving, releasing, and resetting", and the movement is slow, affecting the production rhythm. Summary of the invention

[0004] In view of the above problems, one of the purposes of the present invention is to provide a rolling sorting system that can remove large foreign objects on the belt, so as to solve the problems in the existing sorting system using the horizontal pushing method, that foreign objects directly slide on the belt and cause serious wear of the belt; if the foreign objects have sharp corners contacting the belt surface, pushing the foreign objects hard may tear the belt and cause the entire production line to stop production; and in the process of pushing, the foreign objects will sweep down the coal blocks along the way and cause losses; and the problem of low production efficiency using the grabbing method.

[0005] To solve the above technical problems, the present invention is achieved as follows: A rolling sorting system capable of removing large foreign objects from a belt comprises a conveyor belt and a control device. An image recognition device and a shifting device are sequentially arranged along the conveying direction of the conveyor belt. A rolling material removal device is arranged on the shifting device. The image recognition device, the shifting device and the rolling material removal device are all connected to the control device by signal.

[0006] Furthermore, the shifting device includes a portal frame erected above the conveyor belt, a first bracket is provided on the top wall of the portal frame, one end of the first bracket is rotatably connected to the top wall of the portal frame, and the other end is rotatably connected to the second bracket, the second bracket is connected to the rolling removal device, and a first telescopic rod is also obliquely arranged on the top wall of the portal frame, one end of the first telescopic rod is hinged to the portal frame, and the other end is hinged to the middle part of the first bracket, and a second telescopic rod is connected between the first bracket and the second bracket.

[0007] Furthermore, the shifting device includes a support seat, a first support arm, a first rotating arm, a second rotating arm and a third rotating arm. The support seat is fixedly arranged on one side of the conveyor belt, a first turntable is rotatably provided on the support seat, one end of the first support arm is fixedly connected to the first turntable, the other end of the first support arm is hinged to one end of the first rotating arm, the other end of the first rotating arm is hinged to the second rotating arm, a third rotating arm is rotatably provided on the second rotating arm, one end of the third rotating arm is rotatably connected to a fourth rotating arm, and a rolling material removal device is rotatably provided on the fourth rotating arm.

[0008] Furthermore, the displacement device includes a truss arranged above the conveyor belt, the truss is provided with at least one lateral moving component, the lateral moving component is vertically slidably connected to a vertical moving component, and the bottom of the vertical moving component is connected to the rolling removal device.

[0009] Furthermore, the rolling material removal device includes a bracket, the top of the bracket is connected to the shifting device, and a crawler is rotatably connected to the bracket.

[0010] Furthermore, the image recognition device includes a support frame erected above the conveyor belt, on which a plurality of image acquisition devices and a number of lighting devices are installed. The support frame includes a cross bar and two vertical poles, and the two ends of the cross bar are connected to the two vertical poles by diagonal poles respectively. The cross bar, the vertical poles and the diagonal poles are all equipped with image acquisition devices.

[0011] Furthermore, the image acquisition device is any one of a camera, a lidar, an X-ray or a depth camera.

[0012] Furthermore, inclined baffles are symmetrically arranged on both sides of the conveyor belt, and the baffles on both sides form a V shape. The baffles are arranged along the conveying direction of the conveyor belt and are respectively close to the input end and the output end of the conveyor belt.

[0013] Furthermore, a control device is provided on one side of the conveyor belt, and a collecting chute for collecting large foreign objects is provided on the other side of the conveyor belt, and the collecting chute is located between the baffles.

[0014] Another object of the present invention is to provide a rolling sorting method capable of removing large foreign objects on a belt, using a rolling sorting system capable of removing large foreign objects on a belt, comprising the following steps: S1. The raw coal on the conveyor belt is firstly obtained by the image acquisition device in the image recognition device to obtain the image of the conveyor belt surface, and then the image is sent to the control device for analysis. If foreign matter is detected, the shape of the foreign matter is outlined; S2. The control device formulates a sorting plan based on the location and appearance information of the foreign matter, skips small foreign matter, and leaves it to the blowing mechanism or the grabbing mechanism for processing. For large foreign matter, the control device controls the shifting device to drive the rolling material removal device to a predetermined position and a predetermined posture. When the large foreign matter enters the sorting range, the crawler belt is made to fit the surface of the large foreign matter, and the rolling material removal device is started. During the rotation of the crawler belt, the large foreign matter is driven to roll on the conveyor belt. At the same time, the shifting device cooperates with the follow-up movement, so that the crawler belt is always in contact with the large foreign matter, and the large foreign matter continues to be rolled until the large foreign matter falls from the conveyor belt into the collection chute, completing the sorting of the large foreign matter.

[0015] The beneficial effects of the present invention are: The image recognition device provided in the present invention sends the image of the conveyed material on the conveyor belt to the control device for analysis. After the control device detects the foreign matter and outlines the shape of the foreign matter, it formulates a sorting plan according to the position and shape information of the foreign matter, skips the small foreign matter, and leaves it to the blowing mechanism or the grasping mechanism for processing; for large foreign matter, the control device controls the shifting device to drive the rolling material removal device to a predetermined position and a predetermined posture, so that the crawler and the surface of the large foreign matter are fitted, and the crawler on the rolling material removal device rotates and drives the large foreign matter to roll on the conveyor belt. At the same time, the shifting device cooperates with the follow-up to make the crawler always fit with the large foreign matter, and continue to roll the large foreign matter until the large foreign matter falls from the conveyor belt into the collection chute, completing the sorting of the large foreign matter. No human participation is required in the whole process of foreign matter sorting, which ensures the safety of personnel, reduces the employment cost, and improves production efficiency. And because the foreign matter rolls outward, it will not slide or rub on the conveyor belt, thus not scratching the conveyor belt, and almost no coal lumps will be swept off, thus avoiding the loss of coal lumps and the conveyor belt, and also avoiding production stoppage caused by the conveyor belt being torn in the process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The three-dimensional structure of the first embodiment of the present invention is shown in FIG. Figure 1 ; Figure 2 The three-dimensional structure of the first embodiment of the present invention is shown in FIG. Figure 2 ; Figure 3 It is a schematic diagram of the three-dimensional structure of the second embodiment of the present invention; Figure 4 It is a right side view of the second embodiment of the present invention; Figure 5 The three-dimensional structure of the third embodiment of the present invention is shown in FIG. Figure 1 ; Figure 6 It is a right side view of the third embodiment of the present invention; Figure 7 It is a schematic diagram of the track fitting position when the cross section of a large foreign body is close to a triangle according to the present invention; Figure 8 It is a schematic diagram of the track fitting position when the cross section of a large foreign body is close to a square in the present invention; Fig. 9 It is a schematic diagram of the track fitting position when the cross section of a large foreign body is close to a pentagon in the present invention; Fig.10 It is a schematic diagram of the track fitting position when the cross section of a large foreign body is close to a hexagon in the present invention; Fig.11 It is a schematic diagram of the track fitting position when the cross section of a large foreign body is close to a circle according to the present invention.

[0017] Description of reference numerals: 1. Conveyor belt; 2. Control device; 3. Image recognition device; 31. Support frame; 311. Crossbar; 312. Vertical pole; 313. Diagonal pole; 32. Image acquisition device; 33. Lighting device; 4. Shifting device; 411. Door frame; 412. First bracket; 413. Second bracket; 414. First telescopic rod; 415. Second telescopic rod; 416. Hydraulic station; 421, support base; 4211, first rotating disk; 4212, first driving device; 422, first support arm; 4221, second driving device; 423, first rotating arm; 4231, third driving device; 424, second rotating arm; 4241, fourth driving device; 425, third rotating arm; 4251, fifth driving device; 426, fourth rotating arm; 431, truss; 4311, horizontal slide rail; 432, lateral moving assembly; 4321, first running wheel assembly; 4322, vertical slide rail; 433, vertical moving assembly; 4331, second running wheel assembly; 5. Rolling material removal device; 51. Bracket; 52. Track; 6. Frame; 61. Active roller; 62. Driven roller; 63. Conveying motor; 64. Vertical support; 65. Support wheel; 66. Baffle; 7. Collecting chute; 8. Large foreign matter. DETAILED DESCRIPTION

[0018] The technical scheme in the embodiment of the present invention is described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below. Embodiment 1

[0019] like Figure 1 and Figure 2 The figure shows a rolling sorting system of the present invention which can remove large foreign objects on a belt, comprising a conveyor belt 1 and a control device 2. An image recognition device 3 and a shifting device 4 are sequentially arranged along the conveying direction of the conveyor belt 1. A rolling material removal device 5 is arranged on the shifting device 4. The image recognition device 3, the shifting device 4 and the rolling material removal device 5 are all connected to the control device 2 by signals.

[0020] The conveyor belt 1 is rotatably arranged on the frame 6, and the two ends of the frame 6 are respectively rotatably provided with a driving roller 61 and a driven roller 62, and the conveyor belt 1 is sleeved on the outside of the driving roller 61 and the driven roller 62. A conveying motor 63 is also fixedly arranged on one side of the frame 6, and the output end of the conveying motor 63 is fixedly connected to one end of the driving roller 61. In addition, a plurality of vertical supports 64 are symmetrically arranged on both sides of the top of the frame 6, and a support wheel 65 is rotatably arranged between two vertical supports 64 arranged opposite to each other, and the outer peripheral surface of the support wheel 65 abuts against the inner wall of the conveyor belt 1, thereby playing the role of lifting, supporting and guiding the conveyor belt 1 during its movement.

[0021] The shifting device 4 includes a portal frame 411 erected above the conveyor belt 1, and a first bracket 412 is provided on the top wall of the portal frame 411, one end of the first bracket 412 is rotatably connected to the top wall of the portal frame 411, and the other end is rotatably connected to the second bracket 413, and the second bracket 413 is connected to the rolling material removal device 5. A first telescopic rod 414 is also tiltedly provided on the top wall of the portal frame 411, one end of the first telescopic rod 414 is hinged to the portal frame 411, and the other end is hinged to the middle of the first bracket 412. A second telescopic rod 415 is connected between the first bracket 412 and the second bracket 413, one end of the second telescopic rod 415 is hinged to the first bracket 412, and the other end of the second telescopic rod 415 is hinged to the second bracket 413. Among them, the first telescopic rod 414 and the second telescopic rod 415 can be selected from any one of an electric push rod, an electro-hydraulic push rod, a hydraulic cylinder or a pneumatic cylinder, as long as they have a telescopic function, and are not limited here. Preferably, in this embodiment, the first telescopic rod 414 and the second telescopic rod 415 are both hydraulic cylinders, and are equipped with a hydraulic station 416, which is fixedly arranged on one side of the frame 6. The hydraulic station 416 is mainly composed of key components such as a hydraulic pump, an oil tank, a hydraulic cylinder, a control valve and a control system, which work together to provide power and control for the hydraulic cylinder, thereby controlling the extension and retraction of the hydraulic cylinder, which is a prior art and will not be described in detail here.

[0022] The rolling material removal device 5 includes a bracket 51, and the top of the bracket 51 is connected to the shifting device 4. Specifically, the top of the bracket 51 is fixedly connected to the bottom of the second bracket 413 in the shifting device 4, and the bracket 51 is rotatably connected with a track 52. A motor (not shown in the figure) is fixedly mounted on the bracket 51, and a driving wheel (not shown in the figure) and a driven wheel (not shown in the figure) are also rotatably connected to the bracket 51. The track 52 is sleeved on the outside of the driving wheel and the driven wheel, and the track 52 is meshed and connected with the driving wheel and the driven wheel. The output shaft of the motor is fixedly connected to the driving wheel, and the motor is used to drive the track 52 to rotate. Start the motor, the output shaft of the motor rotates to drive the driving wheel to rotate, and the driving wheel rotates to drive the track 52 and the driven wheel to rotate accordingly.

[0023] The image recognition device 3 includes a support frame 31 erected above the conveyor belt 1, and a plurality of image acquisition devices 32 and a plurality of lighting devices 33 are installed on the support frame 31. The support frame 31 includes a crossbar 311 and two vertical poles 312, and the two ends of the crossbar 311 are connected to the two vertical poles 312 by diagonal rods 313, respectively. The crossbar 311, the vertical poles 312 and the diagonal rods 313 are all equipped with image acquisition devices 32. The image acquisition device 32 is any one of a camera, a laser radar, an X-ray or a depth camera, or as long as it can capture the shape and outline of the foreign body and can provide a basic basis for formulating a material removal and rolling plan, it belongs to the protection scope of the present invention and is not limited here. In this embodiment, image acquisition devices 32 are installed on the horizontal bar 311, the vertical bar 312 and the oblique bar 313. Multiple image acquisition devices 32 are arranged at intervals above the conveyor belt 1, and multiple image acquisition devices 32 shoot toward the top of the conveyor belt 1, so as to shoot objects on the conveyor belt 1 from multiple angles, and then shoot a comprehensive image of each object. In this embodiment, the lighting device 33 is two lighting lamps, which are respectively set at the connection between the horizontal bar 311 and the oblique bar 313, and are located between the image acquisition devices 32, so as to provide lighting fill light and improve the shooting quality.

[0024] The conveyor belt 1 is symmetrically provided with inclined baffles 66, which are fixedly provided on the frame 6. The baffles 66 on both sides are enclosed in a V shape to prevent objects on the conveyor belt 1 from falling from both sides of the conveyor belt 1 during the conveying process. The baffles 66 are provided along the conveying direction of the conveyor belt 1 and are respectively close to the input end and the output end of the conveyor belt 1. The length direction of the baffles 66 is provided in parallel with the length direction of the frame 6. A control device 2 is provided on one side of the conveyor belt 1, and a collection chute 7 for collecting large foreign objects 8 is provided on the other side of the conveyor belt 1. The collection chute 7 is located between the baffles 66, that is, the collection chute 7 is located in the middle of the conveyor belt 1, and the setting position of the collection chute 7 is relative to the position of the shifting device 4.

[0025] The present invention also provides a rolling sorting method capable of removing large foreign objects on a belt, using a rolling sorting system capable of removing large foreign objects on a belt, comprising the following steps: S1. The raw coal on the conveyor belt 1 first obtains an image of the surface of the conveyor belt 1 through the image acquisition device 32 in the image recognition device 3, and then sends the image to the control device 2 for analysis. If the control device 2 detects foreign matter, the shape of the foreign matter is outlined.

[0026] S2, the control device 2 formulates a sorting plan according to the position and shape information of the foreign matter, skips the small foreign matter, and leaves it to the blowing mechanism or the grabbing mechanism for processing; for large foreign matter 8, the control device 2 controls the shifting device 4 to drive the rolling material removal device 5 to a predetermined position and a predetermined posture. Specifically, the control device 2 controls the first telescopic rod 414 and the second telescopic rod 415 in the shifting device 4 to move respectively. After the first telescopic rod 414 telescopically drives the first bracket 412 and the second bracket 413 to rotate to a specified angle relative to the door frame 411, the second telescopic rod 415 telescopically drives the second bracket 413 and the rolling material removal device 5 fixedly connected to the bottom thereof to rotate around the first bracket 412 to a certain angle to reach the position. When the large foreign matter 8 enters the sorting range, that is, when the large foreign matter 8 moves to the bottom of the rolling material removal device 5 under the conveyor belt 1, the crawler 52 is made to fit the surface of the large foreign matter 8. Start the rolling material removal device 5, start the motor, the output shaft of the motor rotates to drive the driving wheel to rotate, and the driving wheel rotates to drive the crawler 52 and the driven wheel to rotate accordingly. During the rotation of the crawler belt 52, the large foreign matter 8 is driven to roll on the conveyor belt 1, and the shifting device 4 cooperates with the follow-up movement, that is, the first telescopic rod 414 and the second telescopic rod 415 in the shifting device 4 respectively perform telescopic actions to make the crawler belt 52 always fit with the large foreign matter 8, and continue to roll the large foreign matter 8 until the large foreign matter 8 falls from the conveyor belt 1 into the collecting chute 7, thereby completing the sorting of the large foreign matter 8.

[0027] in, Figure 7 to Figure 11 It is a schematic diagram of the fitting position of the large foreign body 8 with the crawler 52 when the large foreign body 8 presents different cross sections, for example Figure 7 When the cross section of the foreign body is close to a triangle, the crawler 52 is fitted to the top of the triangle; Figure 8 When the cross-section of the foreign body is close to a square, the crawler 52 is fitted to the top bevel of the square; Fig. 9 and Fig.10 When the cross-section of the foreign body is close to a pentagon or a hexagon, the crawler 52 is fitted to the corners of the pentagon or the hexagon; Fig.11 When the cross section of the foreign body is close to a circle, the crawler 52 is fitted to the tangent point of the side of the circle. Different fitting solutions are required for foreign bodies with different cross sections. During the rotation of the crawler 52, large foreign bodies 8 with different cross sections can be pushed to roll on the conveyor belt 1 until the large foreign bodies 8 are rolled off the conveyor belt 1 into the collection chute 7, which has strong adaptability. Embodiment 2

[0028] Based on the first embodiment, the present invention only proposes another solution for the shifting device 4. Figure 3 and Figure 4As shown, the shifting device 4 includes a support seat 421, a first support arm 422, a first rotating arm 423, a second rotating arm 424 and a third rotating arm 425. The support seat 421 is fixedly arranged on one side of the conveyor belt 1. A first rotating disk 4211 is rotatably arranged on the support seat 421. The first rotating disk 4211 has a first driving device 4212 that drives it to rotate. One end of the first support arm 422 is fixedly connected to the first rotating disk 4211, and the other end of the first support arm 422 is hinged to one end of the first rotating arm 423. The first support arm 422 is provided with a second driving device 4221 that drives the first rotating arm 423 to rotate relative to the first support arm 422. The other end of the first rotating arm 423 is hinged to the second rotating arm 424, and the first rotating arm 423 is provided with a third driving device 4231 that drives the second rotating arm 424 to rotate relative to the first rotating arm 423. The second rotating arm 424 is rotatably provided with a third rotating arm 425, and the third rotating arm 425 is rotated by the drive of the fourth driving device 4241 provided on the second rotating arm 424. The end of the third rotating arm 425 away from the second rotating arm 424 is rotatably connected to the fourth rotating arm 426, and the third rotating arm 425 is provided with a fifth driving device 4251 for driving the fourth rotating arm 426 to rotate relative to the third rotating arm 425. The rolling material removal device 5 is rotatably provided on the fourth rotating arm 426, and the fourth rotating arm 426 is also provided with a sixth driving device (not shown in the figure) for driving the rolling material removal device 5 to rotate. Among them, the first driving device 4212, the second driving device 4221, the third driving device 4231, the fourth driving device 4241, the fifth driving device 4251 and the sixth driving device can be selected from electric motors or hydraulic motors, and can be selected according to actual needs, and no limitation is made here.

[0029] For the large foreign matter 8 on the conveyor belt 1, the control device 2 controls the shifting device 4 to drive the rolling material removal device 5 to a predetermined position and a predetermined posture. Specifically, the first driving device 4212 is first started to rotate the first rotating disk 4211, thereby driving the first support arm 422 to rotate, and the rotation of the first support arm 422 drives the first rotating arm 423, the second rotating arm 424, the third rotating arm 425, the fourth rotating arm 426 and the rolling material removal device 5 to rotate, thereby adjusting the direction of the rolling material removal device 5. Then the second drive device 4221 and the third drive device 4231 are started to realize the rotation of the first rotating arm 423 and the second rotating arm 424. The first rotating arm 423 rotates and tilts to form an angle with the first support arm 422, and drives the second rotating arm 424 to rotate to a certain height and angle; the second rotating arm 424 rotates and tilts to form an angle with the first rotating arm 423, and drives the third rotating arm 425, the fourth rotating arm 426 and the rolling material removal device 5 to rotate and tilt to a certain angle, thereby adjusting the position and height of the rolling material removal device 5. Then, by starting the fourth drive device 4241, the third rotating arm 425 rotates, and the fifth drive device 4251 is started to rotate the fourth rotating arm 426, thereby realizing the fine adjustment and pitch angle adjustment of the rolling material removal device 5, and the sixth drive device is started to drive the rolling material removal device 5 to rotate to a predetermined angle. When the large foreign matter 8 moves to the bottom of the rolling material removal device 5, the crawler 52 fits the surface of the large foreign matter 8. Start the rolling material removal device 5, start the motor, the motor output shaft rotates to drive the driving wheel to rotate, the driving wheel rotates to drive the crawler 52 and the driven wheel to rotate accordingly. During the rotation of the crawler 52, the large foreign matter 8 is driven to roll on the conveyor belt 1, and the shifting device 4 cooperates with the follow-up movement, that is, the first rotating arm 423, the second rotating arm 424, the third rotating arm 425, and the fourth rotating arm 426 in the shifting device 4 rotate in cooperation with each other so that the crawler 52 always fits the large foreign matter 8, and continues to roll the large foreign matter 8 until the large foreign matter 8 falls from the conveyor belt 1 into the collection chute 7, and the sorting of the large foreign matter 8 is completed. Embodiment 3

[0030] Based on the first embodiment, the present invention only proposes another solution for the shifting device 4. Figure 5 and Figure 6As shown, the shifting device 4 includes a truss 431 arranged above the conveyor belt 1, and the length direction of the truss 431 is perpendicular to the conveying direction of the conveyor belt 1. At least one lateral moving assembly 432 is provided on the truss 431, and the moving direction of the lateral moving assembly 432 is perpendicular to the conveying direction of the conveyor belt 1. Two horizontal slide rails 4311 are provided on the truss 431, and the two horizontal slide rails 4311 are arranged up and down. Two first running wheel groups 4321 are provided on the lateral moving assembly 432, and the two first running wheel groups 4321 are arranged opposite to each other up and down, respectively located on the upper and lower sides of the two horizontal slide rails 4311, and contacting the horizontal slide rails 4311. Each first running wheel group 4321 includes two first running wheels, and the two first running wheels are rotatably connected to the lateral moving assembly 432. The two first running wheel groups 4321 arranged up and down are clamped on the upper and lower sides of the two horizontal slide rails 4311, which not only play the role of vertical limiting the lateral moving component 432, but also make the lateral moving component 432 move back and forth in a straight line along the length direction of the horizontal slide rail 4311. The lateral moving component 432 is vertically slidably connected with the vertical moving component 433, and the bottom of the vertical moving component 433 is rotatably connected with the rolling removal device 5. The lateral moving component 432 is provided with a vertical slide rail 4322, and the vertical moving component 433 is provided with two second running wheel groups 4331, and the two second running wheel groups 4331 are respectively located on the left and right sides of the vertical slide rail 4322, and abut against the two side surfaces of the vertical slide rail 4322. Each second running wheel group 4331 includes two second running wheels, and the two second running wheels are rotatably connected with the vertical moving component 433. The two second walking wheel groups 4331 are clamped on the left and right sides of the vertical slide rail 4322, so that the vertical moving assembly 433 can move up and down along the length direction of the vertical slide rail 4322. Both the vertical moving assembly 433 and the horizontal moving assembly 432 can be driven by motors to move back and forth in the vertical direction and the horizontal direction respectively. This is the prior art, and its specific structure will not be repeated here. The vertical moving assembly 433 and the rolling material removal device 5 can be extended and retracted by a hydraulic cylinder (not shown in the figure) to drive the rolling material removal device 5 to rotate relative to the vertical moving assembly 433, thereby adjusting the pitch angle of the rolling material removal device 5.

[0031] It should be noted that the shifting device 4 arranged on the truss 431 can be one group, two groups or multiple groups, which can be set according to actual needs. When it is set to more than two groups, it can avoid that when more than two large foreign objects 8 arrive at the same time, one shifting device 4 cannot take care of them, resulting in one of the large foreign objects 8 being transported by the conveyor belt 1 without being sorted.

[0032] When the large foreign matter 8 enters the sorting range, that is, when the large foreign matter 8 moves to the bottom of the rolling material removal device 5 under the conveyor belt 1, the crawler 52 is made to fit with the surface of the large foreign matter 8. Start the rolling material removal device 5, start the motor, and the output shaft of the motor rotates to drive the driving wheel to rotate, and the driving wheel rotates to drive the crawler 52 and the driven wheel to rotate accordingly. During the rotation of the crawler 52, the large foreign matter 8 is driven to roll on the conveyor belt 1, and at the same time, the shifting device 4 cooperates with the follow-up, that is, the lateral moving component 432, the vertical moving component 433 and the hydraulic cylinder in the shifting device 4 work together to make the crawler 52 always fit with the large foreign matter 8, and continue to roll the large foreign matter 8 until the large foreign matter 8 falls from the conveyor belt 1 into the collection chute 7, and the sorting of the large foreign matter 8 is completed.

[0033] Although the present invention discloses preferred specific embodiments to achieve the above-mentioned objectives, it is not intended to limit the structural features of the present invention. Any person skilled in the art should know that within the technical spirit of the present invention, any easily conceivable changes or modifications are possible and are all covered by the scope of the patent application of the present invention.

Claims

1. A rolling sorting system capable of removing large foreign objects from a belt, characterized in that: The invention comprises a conveyor belt (1) and a control device (2), wherein an image recognition device (3) and a shifting device (4) are sequentially arranged along the conveying direction of the conveyor belt (1), and a rolling material removal device (5) is arranged on the shifting device (4). The image recognition device (3), the shifting device (4) and the rolling material removal device (5) are all connected to the control device (2) by signals.

2. The rolling sorting system capable of removing large foreign objects on the belt according to claim 1 is characterized in that: The shifting device (4) comprises a portal frame (411) erected above the conveyor belt (1), a first bracket (412) being provided on the top wall of the portal frame (411), one end of the first bracket (412) being rotatably connected to the top wall of the portal frame (411), and the other end being rotatably connected to a second bracket (413), the second bracket (413) being connected to the rolling material removal device (5), a first telescopic rod (414) being obliquely provided on the top wall of the portal frame (411), one end of the first telescopic rod (414) being hinged to the portal frame (411), and the other end being hinged to the middle part of the first bracket (412), a second telescopic rod (415) being connected between the first bracket (412) and the second bracket (413).

3. The rolling sorting system capable of removing large foreign objects on the belt according to claim 1 is characterized in that: The shifting device (4) comprises a support seat (421), a first support arm (422), a first rotating arm (423), a second rotating arm (424) and a third rotating arm (425); the support seat (421) is fixedly arranged on one side of the conveyor belt (1); a first rotating disk (4211) is rotatably arranged on the support seat (421); one end of the first support arm (422) is fixedly connected to the first rotating disk (4211); the other end of the first support arm (422) is hinged to one end of the first rotating arm (423); the other end of the first rotating arm (423) is hinged to the second rotating arm (424); a third rotating arm (425) is rotatably arranged on the second rotating arm (424); one end of the third rotating arm (425) is rotatably connected to a fourth rotating arm (426); and the rolling material removal device (5) is rotatably arranged on the fourth rotating arm (426).

4. The rolling sorting system capable of removing large foreign objects on the belt according to claim 1 is characterized in that: The displacement device (4) comprises a truss (431) arranged above the conveyor belt (1), the truss (431) being provided with at least one lateral movement component (432), the lateral movement component (432) being vertically slidably connected to a vertical movement component (433), the bottom of the vertical movement component (433) being connected to the rolling removal device (5).

5. The rolling sorting system capable of removing large foreign objects on the belt according to claim 1, characterized in that: The rolling material removal device (5) comprises a bracket (51), the top of the bracket (51) is connected to the displacement device (4), and a crawler (52) is rotatably connected to the bracket (51).

6. The rolling sorting system capable of removing large foreign objects on the belt according to claim 1, characterized in that: The image recognition device (3) comprises a support frame (31) erected above the conveyor belt (1), a plurality of image acquisition devices (32) and a plurality of lighting devices (33) being mounted on the support frame (31), the support frame (31) comprising a crossbar (311) and two vertical bars (312), the two ends of the crossbar (311) being connected to the two vertical bars (312) respectively via diagonal bars (313), and the image acquisition devices (32) are all mounted on the crossbar (311), the vertical bars (312) and the diagonal bars (313).

7. The rolling sorting system capable of removing large foreign objects on the belt according to claim 6, characterized in that: The image acquisition device (32) is any one of a camera, a laser radar, an X-ray or a depth camera.

8. The rolling sorting system capable of removing large foreign objects on the belt according to claim 1, characterized in that: Inclined baffles (66) are symmetrically arranged on both sides of the conveyor belt (1), the baffles (66) on both sides enclosing a V-shape, and the baffles (66) are arranged along the conveying direction of the conveyor belt (1) and are respectively close to the input end and the output end of the conveyor belt (1).

9. The rolling sorting system capable of removing large foreign objects on the belt according to claim 8, characterized in that: A control device (2) is provided on one side of the conveyor belt (1), and a collection chute (7) for collecting large foreign matter (8) is provided on the other side of the conveyor belt (1), wherein the collection chute (7) is located between the baffles (66).

10. A rolling sorting method capable of removing large foreign objects from a belt, characterized in that: The rolling sorting system for removing large foreign objects from a belt according to any one of claims 1 to 9 comprises the following steps: S1, the raw coal on the conveyor belt (1) first obtains an image of the surface of the conveyor belt (1) through the image acquisition device (32) in the image recognition device (3), and then sends the image to the control device (2) for analysis. If a foreign object is detected, the shape of the foreign object is outlined; S2. The control device (2) formulates a sorting plan according to the position and shape information of the foreign matter, and skips small foreign matter and leaves it to the blowing mechanism or the grasping mechanism for processing. For large foreign matter (8), the control device (2) controls the shifting device (4) to drive the rolling material removal device (5) to a predetermined position and a predetermined posture. When the large foreign matter (8) enters the sorting range, the crawler (52) is made to fit the surface of the large foreign matter (8), and the rolling material removal device (5) is started. During the rotation of the crawler (52), the large foreign matter (8) is driven to roll on the conveyor belt (1). At the same time, the shifting device (4) cooperates with the follow-up movement, so that the crawler (52) is always in contact with the large foreign matter (8), and the large foreign matter (8) continues to roll until the large foreign matter (8) falls from the conveyor belt (1) into the collecting chute (7), and the sorting of the large foreign matter (8) is completed.

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