Coal gangue positioning device and positioning method based on spatio-temporal feature fusion of gangue selection robot

Abstract

The invention relates to the technical field of coal and gangue separation, in particular to a coal and gangue positioning device and method based on spatial-temporal feature fusion of a gangue selection robot, and the device comprises a main body frame, moving wheels which are symmetrically installed at the bottom of the main body frame and are used for the movement of the main body frame, and a belt conveyor which is fixedly installed at the upper end of the main body frame. The upper end of one side of the main body frame is fixedly connected with an m-shaped frame plate, a coal breaking assembly is fixedly installed at the lower end of the side, away from the fixed connection position of the m-shaped frame plate and the main body frame, of the m-shaped frame plate, and a gangue separating assembly is fixedly installed at the lower end of the middle of the m-shaped frame plate. Meanwhile, rapid recognition of the probe is facilitated, the gangue positioning efficiency is improved, a clamping jaw type separation mechanism is adopted to replace a traditional high-pressure airflow gangue removal mode, the dust raising phenomenon is avoided, the surrounding environment of equipment is improved, the recognition precision of the probe is improved, and rapid gangue separation is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of coal gangue separation, in particular to a coal gangue positioning device and a positioning method for a gangue selection robot integrating time and space characteristics. Background Art

[0002] The fusion of spatiotemporal features of gangue sorting robots refers to the integration of artificial intelligence technologies such as machine vision and deep network learning with traditional machinery and electronic control technologies in the gangue screening process, and the realization of accurate and efficient gangue sorting through comprehensive analysis of the temporal and spatial characteristics of coal and gangue.

[0003] At present, for the separation actuators equipped on gangue sorting robots, the way to separate coal gangue is mostly to use high-pressure nozzles to remove the gangue using high-pressure airflow. Although the purpose of separating gangue is achieved, it is easy to cause dust. In the narrow tunnels underground in coal mines, the raised coal dust is not only easy to pollute the environment around the equipment and affect the health of workers, but also easy to block the image acquisition probe and reduce the probe recognition sensitivity. In addition, gangue may be mixed in large pieces of coal, resulting in the inability of the image acquisition probe to accurately collect gangue information, thereby causing gangue positioning failure, which in turn affects the accuracy of gangue separation. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a coal gangue positioning device and positioning method that integrates the spatiotemporal characteristics of a gangue selection robot. The coal blocks are crushed and evenly distributed on a belt conveyor to form a coal bundle, which is beneficial to the exposure of gangue and convenient for rapid identification by a probe, thereby improving the efficiency of gangue positioning. A separation mechanism in the form of a clamp is used instead of the traditional method of removing gangue by high-pressure airflow, thereby avoiding dust generation, improving the environment around the equipment, improving the identification accuracy of the probe, and facilitating rapid separation of gangue.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a gangue positioning device with spatiotemporal characteristics fusion of gangue selection robot, comprising a main frame, moving wheels symmetrically installed at the bottom of the main frame and used for its movement, and a belt conveyor fixedly installed at the upper end of the main frame, an "M"-shaped frame plate is fixedly connected to the upper end of one side of the main frame, a coal breaking component is fixedly installed at the lower end of the "M"-shaped frame plate away from the fixed connection between the "M"-shaped frame plate and the main frame, and a gangue separation component is fixedly installed at the lower end of the middle part of the "M"-shaped frame plate;

[0006] The described coal-breaking assembly includes a U-shaped frame. A U-shaped frame is fixedly installed at the lower end of one side of the "m"-shaped frame plate away from its fixed connection with the main frame. A driving motor is fixedly installed on the side wall of the U-shaped frame through a motor base. The output shaft of the driving motor is fixedly connected to a crankshaft. The crankshaft is arranged inside the U-shaped frame and the end of the crankshaft away from the driving motor extends outside the U-shaped frame. Ball head telescopic rods are linearly arranged and penetrate through the bottom of the U-shaped frame. The ball head end of the ball head telescopic rod is close to the crankshaft. A spiral spring is sleeved on the ball head telescopic rod between the ball head end of the ball head telescopic rod and the bottom of the U-shaped frame. The lower end of the ball head telescopic rod is fixedly connected to a ramming head. The inside of the ramming head is of a hollow structure. A coal-breaking unit is arranged inside the ramming head. A coal leveling unit is arranged on the side of the U-shaped frame. The upper end of the coal leveling unit is fixedly connected to the U-shaped frame.

[0007] Preferably, spacer plates for diverting coal are evenly arranged on the outer side of the conveyor belt of the belt conveyor.

[0008] Preferably, overflow coal baffles are symmetrically installed on the upper end surface of the belt conveyor at positions on both sides of the coal-breaking assembly.

[0009] Preferably, the coal-breaking unit includes a main crushing tooth. The main crushing tooth penetrates through the lower end of the ramming head. An extrusion spring is installed between the upper end of the main crushing tooth and the top of the ramming head. Telescopic connecting rods are symmetrically hinged on both sides of the upper end of the main crushing tooth. The end of the telescopic connecting rod away from the main crushing tooth is fixedly connected to a swing rod. Through grooves are symmetrically arranged on both sides of the ramming head. The swing rod penetrates through the through groove and its middle part is hinged in the through groove. Elastic membranes are arranged at positions on both sides of the swing rod in the through groove. A splash-proof plate is fixedly connected to the lower end of the swing rod. Secondary crushing teeth are symmetrically installed on both sides of the main crushing tooth. The secondary crushing teeth are fixedly connected to the bottom of the ramming head.

[0010] Preferably, the coal leveling unit includes a support rod. Support rods are symmetrically installed at the upper end of the U-shaped frame. The lower end of the support rod is fixedly connected to a U-shaped plate. The opening of the U-shaped plate faces downward and a strip-shaped chute is opened at the top of the U-shaped plate. The end of the crankshaft away from the driving motor is fixedly connected to a driving pulley. A screw rod is rotatably arranged in the middle of the U-shaped plate. The end of the screw rod is fixedly connected to a driven pulley. The driven pulley is connected to the driving pulley through an endless belt. A moving block is screwed on the screw rod. A limiting block is fixedly arranged at the upper end of the moving block. The upper end of the limiting block is slidably installed in the strip-shaped chute. A fork is fixedly connected to the lower end of the moving block.

[0011] Preferably, the fork teeth at the lower end of the fork are made of rubber material and the lower ends of the fork teeth do not contact the upper end of the belt conveyor.

[0012] Preferably, the gangue separating assembly includes a horizontal plate, the lower end of the middle part of the "M"-shaped frame plate is fixedly connected to the horizontal plate, a number of connecting frames are evenly arranged on the side walls of the horizontal plate, a gangue identification probe is fixedly installed on the lower end of the connecting frame, a first electric push rod is fixedly installed on the lower end of the horizontal plate, a controller is installed on the side wall of the first electric push rod, the controller and the gangue identification probe are connected through electrical signals, a push plate is fixedly connected to the lower end of the first electric push rod, a gangue separating unit is arranged on the lower end surface of the push plate, and a gangue conveying unit is arranged on the belt conveyor below the gangue separating unit.

[0013] Preferably, the gangue separating unit includes a vertical rod, the vertical rods are symmetrically installed on the edge of the lower end surface of the push plate, an adapter is fixedly installed on the lower end of the vertical rod, a clamping plate is hinged on the adapter through a torsion spring, a second electric push rod is fixedly installed in the middle of the lower end surface of the push plate, a pull plate is fixedly connected to the lower end of the second electric push rod, pulleys are rotatably installed at both ends of the pull plate, and limiting grooves are symmetrically opened on the opposite side walls of the clamping plate, and the pulleys are slidably installed in the limiting grooves.

[0014] Preferably, the gangue conveying unit includes a rectangular mounting groove, a rectangular mounting groove is symmetrically opened on the upper end of the belt conveyor below the gangue separating unit, a magnetic support block is slidably installed in the rectangular mounting groove, a reset spring is arranged between the magnetic support block and the side wall of the rectangular mounting groove, a gangue conveying bridge plate is fixedly installed on the upper end of the magnetic support block, an electromagnet block is arranged in the rectangular mounting groove and on one side away from the reset spring, an action probe is arranged on the upper end of the belt conveyor on the side of the rectangular mounting groove, the action probe is opposite to the gangue separating unit and the action probe is connected to the electromagnet block through an electrical signal.

[0015] Preferably, the positioning method of the gangue positioning device of the gangue selection robot with spatiotemporal feature fusion comprises the following steps:

[0016] S1: manually move the gangue positioning device of the gangue sorting robot with time-space characteristics fused to the gangue sorting place and start the belt conveyor;

[0017] S2: After the above step 1 is completed, the mined coal is manually added to the end of the belt conveyor and the belt conveyor drives the coal blocks to move toward the gangue separation assembly;

[0018] S3: Start the coal breaking assembly to break the coal blocks and expose the gangue. Then the broken coal and the gangue are synchronously transported to the gangue separation assembly to form a coal bundle.

[0019] S4: Start the gangue separation component, collect and analyze images of the coal bundles in each conveying process through the gangue separation component, and when gangue appears, the controller controls the corresponding first electric push rod and the gangue separation unit to move, so that the gangue is clamped and separated from the belt conveyor through the gangue conveying unit;

[0020] S5: Repeat the above step 4 to achieve continuous positioning and removal of gangue in the coal.

[0021] Beneficial effects of the present invention:

[0022] 1. In the coal breaking component, the coal breaking unit can quickly break the coal blocks and avoid coal splashing. At the same time, with the cooperation of the coal leveling unit, the coal can be evenly distributed on the belt conveyor to form a regular coal bundle. The coal leveling unit can also scrape the coal on the surface of the gangue, which is conducive to exposing the gangue and improving the efficiency and accuracy of subsequent identification and analysis;

[0023] 2. In the gangue separation component, a separation mechanism in the form of a clamp is used instead of the traditional high-pressure airflow method to remove gangue, which avoids dust, improves the environment around the equipment, and improves the recognition accuracy of the gangue identification probe. At the same time, the gangue conveying unit can move to the bottom of the gangue separation unit in time after the gangue is clamped, ensuring the efficiency of gangue separation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 is a first three-dimensional structural schematic diagram of the present invention;

[0026] Figure 2 is a second three-dimensional structural schematic diagram of the present invention;

[0027] Figure 3 The present invention Figure 1 The schematic diagram of the three-dimensional structure after removing the main frame, moving wheels and "M"-shaped frame plate;

[0028] Figure 4 It is a schematic diagram of the three-dimensional connection structure of the coal breaking assembly in the present invention;

[0029] Figure 5 It is a schematic diagram of the cross-sectional three-dimensional connection structure between the ball-end telescopic rod, the tamping head and the coal breaking unit in the present invention;

[0030] Figure 6 It is a schematic diagram of the three-dimensional connection structure after the gangue conveying unit is removed from the gangue separation assembly of the present invention;

[0031] Figure 7 It is a schematic diagram of the three-dimensional connection structure of a single gangue separation unit in the present invention;

[0032] Figure 8 It is a schematic diagram of a cross-sectional three-dimensional connection structure between a belt conveyor and a gangue conveying unit in the present invention.

[0033] In the figure:

[0034] 1. Main frame; 2. Moving wheel; 3. Belt conveyor; 31. Spacer; 32. Coal overflow baffle; 4. "M" type frame plate;

[0035] 5. Coal breaking assembly; 51. Reciprocating frame; 52. Driving motor; 53. Crankshaft; 54. Ball head telescopic rod; 55. Coil spring; 56. Ramming head;

[0036] 57, coal breaking unit; 571, main crushing teeth; 572, extrusion spring; 573, telescopic connecting rod; 574, swing rod; 575, elastic membrane; 576, anti-splashing plate; 577, auxiliary crushing teeth;

[0037] 58, coal leveling unit; 581, rack rod; 582, profile plate; 583, driving pulley; 584, endless belt; 585, driven pulley; 586, screw rod; 587, moving block; 588, limit block; 589, shift fork;

[0038] 6. Gangue separation assembly; 61. Horizontal plate; 62. Connecting frame; 63. Gangue identification probe; 64. First electric push rod; 65. Controller; 66. Push plate;

[0039] 67, gangue separation unit; 671, vertical rod; 672, adapter; 673, clamping plate; 674, second electric push rod; 675, pull plate; 676, limit groove; 677, pulley;

[0040] 68. Gangue conveying unit; 681. Rectangular mounting groove; 682. Support block; 683. Return spring; 684. Gangue conveying bridge plate; 685. Electromagnet block; 686. Action probe. DETAILED DESCRIPTION

[0041] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0042] Embodiment 1:

[0043] See also Figures 1 to 5 A gangue positioning device with spatiotemporal feature fusion of gangue selection robot comprises a main frame 1, a moving wheel 2 symmetrically mounted at the bottom of the main frame 1 and used for its movement, and a belt conveyor 3 fixedly mounted at the upper end of the main frame 1, an "M"-shaped frame plate 4 is fixedly connected to the upper end of one side of the main frame 1, and a coal breaking assembly 5 is fixedly mounted at the lower end of the "M"-shaped frame plate 4 away from the fixed connection between the "M"-shaped frame plate 4 and the main frame 1.

[0044] The outer side of the conveying belt of the belt conveyor 3 is evenly provided with partition plates 31 for diverting coal, and the upper end surface of the belt conveyor 3 and the positions on both sides of the coal breaking assembly 5 are symmetrically installed with coal overflow baffles 32.

[0045] The coal breaking assembly 5 comprises a circular frame 51, and the circular frame 51 is fixedly installed at the lower end of one side of the "M"-shaped frame plate 4 away from the fixed connection between the "M"-shaped frame plate 4 and the main frame 1, and a driving motor 52 is fixedly installed on the side wall of the circular frame 51 through a motor base, and a crankshaft 53 is fixedly connected to the output shaft of the driving motor 52, and the crankshaft 53 is arranged inside the circular frame 51 and the end of the crankshaft 53 away from the driving motor 52 extends to the outside of the circular frame 51, and the bottom of the circular frame 51 is linearly arranged and penetrates A ball-end telescopic rod 54 is provided, and the ball end of the ball-end telescopic rod 54 is close to the crankshaft 53. A coil spring 55 is sleeved on the ball-end telescopic rod 54 between the ball end of the ball-end telescopic rod 54 and the bottom of the circular frame 51. A tamping head 56 is fixedly connected to the lower end of the ball-end telescopic rod 54. The interior of the tamping head 56 is a hollow structure, and a coal breaking unit 57 is provided inside the tamping head 56. A coal leveling unit 58 is provided on the side of the circular frame 51, and the upper end of the coal leveling unit 58 is fixedly connected to the circular frame 51.

[0046] The coal breaking unit 57 includes a main crushing tooth 571, and the main crushing tooth 571 is penetrated at the lower end of the tamping head 56. An extrusion spring 572 is installed between the upper end of the main crushing tooth 571 and the top of the tamping head 56. Telescopic connecting rods 573 are symmetrically hinged on both sides of the upper end of the main crushing tooth 571, and the end of the telescopic connecting rod 573 away from the main crushing tooth 571 is fixedly connected to a swing rod 574. Through grooves are symmetrically arranged on both sides of the tamping head 56, and the swing rod 574 penetrates the groove and the middle part is hinged in the through groove. Elastic membranes 575 are arranged in the through groove and at positions on both sides of the swing rod 574. The lower end of the swing rod 574 is fixedly connected to an anti-splashing plate 576. Auxiliary crushing teeth 577 are symmetrically installed on both sides of the main crushing tooth 571, and the auxiliary crushing teeth 577 are fixedly connected to the bottom of the tamping head 56.

[0047] The coal-leveling unit 58 comprises a frame rod 581, the frame rod 581 is symmetrically mounted on the upper end of the circular frame 51, a shaped plate 582 is fixedly connected to the lower end of the frame rod 581, the shaped plate 582 is opened downward and a strip-shaped slide groove is provided on the top of the shaped plate 582, a driving pulley 583 is fixedly connected to the end of the crankshaft 53 away from the driving motor 52, a screw rod 586 is rotatably arranged in the middle of the shaped plate 582, and the end of the screw rod 586 is fixedly connected to the driven pulley Wheel 585, the driven pulley 585 is connected to the driving pulley 583 through an annular belt 584, a moving block 587 is screwed on the screw rod 586, a limit block 588 is fixedly provided on the upper end of the moving block 587, the upper end of the limit block 588 is slidably installed in the strip slide groove, and a shift fork 589 is fixedly connected to the lower end of the moving block 587, and the fork teeth at the lower end of the fork 589 are made of rubber material and the lower end of the fork teeth does not contact the upper end of the belt conveyor 3.

[0048] During the specific operation, the gangue positioning device with the spatiotemporal characteristics of the gangue selection robot is manually moved to the gangue sorting place and the belt conveyor 3 is started. The mined coal is manually added to the end of the belt conveyor 3 and the belt conveyor 3 drives the coal blocks to move toward the coal breaking assembly 5.

[0049] The drive motor 52 is started, and the crankshaft 53 is driven to reciprocate through the drive motor 52. During the reciprocating rotation, the crankshaft 53 intermittently squeezes the upper end of the ball head telescopic rod 54. At this time, the ball head telescopic rod 54 moves downward, and the spiral spring 55 is compressed. The tamping head 56 and the coal breaking unit 57 are driven to move downward synchronously through the ball head telescopic rod 54. When the main crushing tooth 571 contacts the coal block, the main crushing tooth 571 moves toward the inside of the tamping head 56 under the action of the squeezing force. At this time, the squeezing spring 572 is compressed, and under the action of the telescopic connecting rod 573, the main crushing tooth 571 moves toward the inside of the tamping head 56. , the main crushing teeth 571 will drive the swing rod 574 to swing, and at the same time, the anti-splashing plates 576 on both sides will move toward the main crushing teeth 571 under the action of the swing rod 574, and the coal blocks will be crushed under the action of the main crushing teeth 571, the auxiliary crushing teeth 577 and the tamping head 56, and the anti-splashing plates 576 on both sides can gather the coal under the tamping head 56, which can prevent the coal from splashing and overflowing the belt conveyor 3 on the one hand, and prevent the gangue in the coal blocks from rolling and splashing on the other hand. Finally, the crushed coal will form a coal bundle and continue to move along the belt conveyor 3;

[0050] During the reciprocating rotation, the crankshaft 53 will also drive the active pulley 583 to reciprocate. Under the action of the annular belt 584, the driven pulley 585 and the screw 586 will also reciprocate. Due to the existence of the limit block 588, the moving block 587 will drive the fork 589 to reciprocate along the screw 586. During this process, the fork 589 can evenly spread the crushed coal on the conveying belt of the belt conveyor 3, so as to facilitate the exposure of the gangue. When the lower end of the fork 589 contacts the gangue, it can scrape off the coal on its upper surface, thereby improving the subsequent identification efficiency.

[0051] Embodiment 2:

[0052] The technical solution is basically the same as that of the first embodiment, see Figures 1 to 3 as well as Figures 6 to 8The difference lies in that: a gangue separation component 6 is fixedly installed at the lower middle end of the "M"-shaped frame plate 4, and the gangue separation component 6 includes a transverse plate 61, and the transverse plate 61 is fixedly connected to the lower middle end of the "M"-shaped frame plate 4, and a number of connecting frames 62 are evenly arranged on the side walls of the transverse plate 61, and a gangue identification probe 63 is fixedly installed at the lower end of the connecting frame 62, and a first electric push rod 64 is fixedly installed at the lower end of the transverse plate 61, and a controller 65 is installed on the side wall of the first electric push rod 64, and the controller 65 and the gangue identification probe 63 are connected through electrical signals, and a push plate 66 is fixedly connected to the lower end of the first electric push rod 64, and a gangue separation unit 67 is arranged on the lower end surface of the push plate 66, and a gangue conveying unit 68 is arranged on the belt conveyor 3 below the gangue separation unit 67.

[0053] The gangue separating unit 67 includes a vertical rod 671, and the vertical rod 671 is symmetrically installed on the edge of the lower end surface of the push plate 66. An adapter 672 is fixedly installed on the lower end of the vertical rod 671, and a clamping plate 673 is hinged on the adapter 672 through a torsion spring. A second electric push rod 674 is fixedly installed in the middle of the lower end surface of the push plate 66, and a pull plate 675 is fixedly connected to the lower end of the second electric push rod 674. Pulleys 677 are rotatably installed at both ends of the pull plate 675. Limiting grooves 676 are symmetrically opened on the opposite side walls of the clamping plate 673, and the pulley 677 is slidably installed in the limiting grooves 676.

[0054] The gangue conveying unit 68 includes a rectangular mounting groove 681, and a rectangular mounting groove 681 is symmetrically opened on the upper end of the belt conveyor 3 below the gangue separating unit 67. A magnetic support block 682 is slidably installed in the rectangular mounting groove 681, and a reset spring 683 is arranged between the magnetic support block 682 and the side wall of the rectangular mounting groove 681. A gangue conveying bridge plate 684 is fixedly installed on the upper end of the magnetic support block 682. An electromagnet block 685 is arranged in the rectangular mounting groove 681 and on one side away from the reset spring 683. An action probe 686 is arranged on the upper end of the belt conveyor 3 on the side of the rectangular mounting groove 681. The action probe 686 is opposite to the gangue separating unit 67 and the action probe 686 is connected to the electromagnet block 685 through an electrical signal.

[0055] One point that needs to be explained is that, in this embodiment, the presence of the torsion spring enables the lower ends of the paired clamping plates 673 to be in abutment.

[0056] During specific operation, the coal crushed by the coal crushing component 5 will form a coal bundle and continue to move along the belt conveyor 3 toward the gangue separation component 6, while the gangue will be exposed. When the coal bundle passes under the gangue identification probe 63, the gangue identification probe 63 can collect coal images in real time and automatically analyze them through its internal algorithms and models. After identifying the gangue, it will control the first electric push rod 64 at the corresponding position through the controller 65 to start and drive the push plate 66 and the gangue separation unit 67 to move downward. During this process, the second electric push rod 674 will drive the pull plate 675 and the pulley 677 to move upward, so that the clamping plates 673 on both sides are separated and located on both sides of the gangue. Then the second electric push rod 674 drives the pull plate 675 and the pulley 677 to move downward. Under the reaction force of the torsion spring, the clamping plate 673 will clamp the gangue. Then the first electric push rod 64 drives the push plate 66 and the gangue separation unit 67 to reset upward.

[0057] In the process of the first electric push rod 64 driving the push plate 66 and the gangue separation unit 67 to reset upward, the action probe 686 can monitor this signal and control the electromagnet block 685 to be energized. After the electromagnet block 685 is energized, it will generate a magnetic force that repels the magnetic support block 682. This magnetic force will drive the magnetic support block 682 and the gangue conveying bridge plate 684 to move to the bottom of the gangue separation unit 67. At this time, the reset spring 683 is compressed, and then the second electric push rod 674 drives the pull plate 675 and the pulley 677 to move upward again. At this time, the gangue will fall downward onto the gangue conveying bridge plate 684 and separate from the belt conveyor 3 through the gangue conveying bridge plate 684.

[0058] In addition, the present invention also provides a positioning method for the coal gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion, comprising the following steps:

[0059] S1: manually moving the gangue positioning device of the gangue sorting robot with time-space characteristics integrated to the gangue sorting place and starting the belt conveyor 3;

[0060] S2: After the above step 1 is completed, the mined coal is manually added to the end of the belt conveyor 3 and the belt conveyor 3 drives the coal blocks to move toward the coal breaking assembly 5;

[0061] S3: Start the drive motor 52, and drive the crankshaft 53 to reciprocate through the drive motor 52. During the reciprocating rotation, the crankshaft 53 will intermittently squeeze the upper end of the ball head telescopic rod 54. At this time, the ball head telescopic rod 54 will move downward, and the spiral spring 55 will be compressed. The ball head telescopic rod 54 will drive the tamping head 56 and the coal breaking unit 57 to move downward synchronously. When the main crushing tooth 571 contacts the coal block, under the action of the squeezing force, the main crushing tooth 571 will move toward the inside of the tamping head 56. At this time, the squeezing spring 572 is compressed, and under the action of the telescopic connecting rod 573, the main crushing tooth 571 moves toward the inside of the tamping head 56. Under the action of the swing rod 574, the main crushing teeth 571 will drive the swing rod 574 to swing, and at the same time, the anti-splashing plates 576 on both sides will move toward the main crushing teeth 571, and the coal blocks will be crushed under the action of the main crushing teeth 571, the auxiliary crushing teeth 577 and the tamping head 56, and the anti-splashing plates 576 on both sides can gather the coal under the tamping head 56, which can prevent the coal from splashing and overflowing the belt conveyor 3 on the one hand, and prevent the gangue in the coal blocks from rolling and splashing on the other hand. Finally, the crushed coal will form a coal bundle and continue to move along the belt conveyor 3;

[0062] The crankshaft 53 will also drive the driving pulley 583 to reciprocate during the reciprocating rotation. Under the action of the annular belt 584, the driven pulley 585 and the screw 586 will also reciprocate. Due to the existence of the limit block 588, the moving block 587 will drive the fork 589 to reciprocate along the screw 586. During this process, the fork 589 can evenly spread the crushed coal on the conveying belt of the belt conveyor 3, so that the gangue is exposed. When the lower end of the fork 589 contacts the gangue, the coal on its upper surface can be scraped off, thereby improving the subsequent identification efficiency.

[0063] S4: The coal crushed by the coal crushing component 5 will form a coal bundle and continue to move along the belt conveyor 3 toward the gangue separation component 6, while the gangue will be exposed. When the coal bundle passes under the gangue identification probe 63, the gangue identification probe 63 can collect coal images in real time and automatically analyze them through its internal algorithms and models. After identifying the gangue, it will control the first electric push rod 64 at the corresponding position through the controller 65 to start and drive the push plate 66 and the gangue separation unit 67 to move downward. During this process, the second electric push rod 674 will drive the pull plate 675 and the pulley 677 to move upward, so that the clamping plates 673 on both sides are separated and located on both sides of the gangue. Then the second electric push rod 674 drives the pull plate 675 and the pulley 677 to move downward. Under the reaction force of the torsion spring, the clamping plate 673 will clamp the gangue. Then the first electric push rod 64 drives the push plate 66 and the gangue separation unit 67 to reset upward.

[0064] In the process that the first electric push rod 64 drives the push plate 66 and the gangue separation unit 67 to reset upward, the action probe 686 can monitor this signal and control the electromagnet block 685 to be energized. After the electromagnet block 685 is energized, it will generate a magnetic force that repels the magnetic support block 682, and this magnetic force will drive the magnetic support block 682 and the gangue conveying bridge plate 684 to move to the bottom of the gangue separation unit 67. At this time, the reset spring 683 is compressed, and then the second electric push rod 674 drives the pull plate 675 and the pulley 677 to move upward again. At this time, the gangue will fall downward onto the gangue conveying bridge plate 684 and leave the belt conveyor 3 through the gangue conveying bridge plate 684. Then the electromagnet block 685 is de-energized, and the reaction force of the reset spring 683 drives the magnetic support block 682 and the gangue conveying bridge plate 684 to reset;

[0065] S5: Repeat the above step 4 to achieve continuous positioning and removal of gangue in the coal.

[0066] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A gangue positioning device for gangue selection robot with spatiotemporal feature fusion, comprising a main frame (1), moving wheels (2) symmetrically mounted on the bottom of the main frame (1) and used for moving the main frame (1), and a belt conveyor (3) fixedly mounted on the upper end of the main frame (1), characterized in that: An "M"-shaped frame plate (4) is fixedly connected to the upper end of one side of the main frame (1), a coal breaking assembly (5) is fixedly installed at the lower end of the "M"-shaped frame plate (4) away from the fixed connection between the "M"-shaped frame plate (4) and the main frame (1), and a gangue separation assembly (6) is fixedly installed at the lower middle end of the "M"-shaped frame plate (4); The coal breaking assembly (5) comprises A circular frame (51), the circular frame (51) being fixedly mounted on the lower end of one side of the "M"-shaped frame plate (4) away from the fixed connection between the "M"-shaped frame plate (4) and the main frame (1); A driving motor (52) is fixedly mounted on the side wall of the circular frame (51) via a motor base; A crankshaft (53), the output shaft of the driving motor (52) is fixedly connected with the crankshaft (53), the crankshaft (53) is arranged inside the circular frame (51), and the end of the crankshaft (53) away from the driving motor (52) extends to the outside of the circular frame (51); The ball-end telescopic rod (54) is linearly arranged and penetrates the bottom of the circular frame (51), and the ball-end end of the ball-end telescopic rod (54) is close to the crankshaft (53); A coil spring (55), wherein the coil spring (55) is sleeved on the ball head telescopic rod (54) between the ball head end of the ball head telescopic rod (54) and the bottom of the return frame (51); A tamping head (56), the lower end of the ball-end telescopic rod (54) is fixedly connected with the tamping head (56), and the interior of the tamping head (56) is a hollow structure; A coal breaking unit (57), wherein a coal breaking unit (57) is arranged inside the tamping head (56); A coal leveling unit (58) is provided on the side of the circular frame (51), and the upper end of the coal leveling unit (58) is fixedly connected to the circular frame (51).

2. The gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion according to claim 1 is characterized in that: The outer side of the conveying belt of the belt conveyor (3) is evenly provided with partition plates (31) for diverting the coal.

3. The gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion according to claim 1 is characterized in that: Coal overflow baffles (32) are symmetrically installed on the upper end surface of the belt conveyor (3) and at positions located on both sides of the coal breaking assembly (5).

4. The gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion according to claim 1 is characterized in that: The coal crushing unit (57) comprises a main crushing tooth (571), the main crushing tooth (571) is penetrated at the lower end of the tamping head (56), an extrusion spring (572) is installed between the upper end of the main crushing tooth (571) and the top of the tamping head (56), telescopic connecting rods (573) are symmetrically hinged on both sides of the upper end of the main crushing tooth (571), and the end of the telescopic connecting rod (573) away from the main crushing tooth (571) is fixedly connected to a swing rod (574), through grooves are symmetrically arranged on both sides of the tamping head (56), the swing rod (574) penetrates the groove and its middle part is hinged in the through groove, elastic membranes (575) are arranged in the through groove and at the positions on both sides of the swing rod (574), and the lower end of the swing rod (574) is fixedly connected to an anti-splashing plate (576), and auxiliary crushing teeth (577) are symmetrically installed on both sides of the main crushing tooth (571), and the auxiliary crushing teeth (577) are fixedly connected to the bottom of the tamping head (56).

5. The gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion according to claim 1 is characterized in that: The coal-leveling unit (58) comprises a frame rod (581), the frame rod (581) is symmetrically mounted on the upper end of the circular frame (51), the lower end of the frame rod (581) is fixedly connected to a shaped plate (582), the shaped plate (582) is opened downward and a strip-shaped slide groove is provided on the top of the shaped plate (582), the end of the crankshaft (53) away from the driving motor (52) is fixedly connected to a driving pulley (583), and a screw (582) is rotatably arranged in the middle of the shaped plate (582) 586), the end of the screw rod (586) is fixedly connected with a driven pulley (585), the driven pulley (585) is connected with the driving pulley (583) through an annular belt (584), a moving block (587) is screwed on the screw rod (586), a limit block (588) is fixedly arranged on the upper end of the moving block (587), the upper end of the limit block (588) is slidably installed in a strip-shaped slide groove, and a shift fork (589) is fixedly connected to the lower end of the moving block (587).

6. The gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion according to claim 5 is characterized by: The fork teeth at the lower end of the shift fork (589) are made of rubber material and the lower end of the fork teeth does not contact the upper end of the belt conveyor (3).

7. The gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion according to claim 1 is characterized by: The gangue separation component (6) comprises a transverse plate (61), the lower end of the middle part of the "M"-shaped frame plate (4) is fixedly connected to the transverse plate (61), the side wall of the transverse plate (61) is evenly provided with a plurality of connecting frames (62), the lower end of the connecting frame (62) is fixedly installed with a gangue identification probe (63), the lower end of the transverse plate (61) is fixedly installed with a first electric push rod (64), the side wall of the first electric push rod (64) is installed with a controller (65), the controller (65) and the gangue identification probe (63) are connected via electrical signals, the lower end of the first electric push rod (64) is fixedly connected to a push plate (66), the lower end surface of the push plate (66) is provided with a gangue separation unit (67), and the belt conveyor (3) below the gangue separation unit (67) is provided with a gangue conveying unit (68).

8. The gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion according to claim 7, characterized in that: The gangue separating unit (67) comprises a vertical rod (671), the vertical rod (671) is symmetrically installed on the edge of the lower end surface of the push plate (66), an adapter (672) is fixedly installed on the lower end of the vertical rod (671), a clamping plate (673) is hinged on the adapter (672) through a torsion spring, a second electric push rod (674) is fixedly installed in the middle of the lower end surface of the push plate (66), a pulling plate (675) is fixedly connected to the lower end of the second electric push rod (674), pulleys (677) are rotatably installed at both ends of the pulling plate (675), and limiting grooves (676) are symmetrically provided on the opposite side walls of the clamping plate (673), and the pulley (677) is slidably installed in the limiting grooves (676).

9. The gangue positioning device of gangue sorting robot with spatiotemporal feature fusion according to claim 7, characterized in that: The gangue conveying unit (68) comprises a rectangular mounting groove (681), the upper end of the belt conveyor (3) below the gangue separation unit (67) is symmetrically provided with a rectangular mounting groove (681), a magnetic support block (682) is slidably installed in the rectangular mounting groove (681), a reset spring (683) is arranged between the magnetic support block (682) and the side wall of the rectangular mounting groove (681), a gangue conveying bridge plate (684) is fixedly installed on the upper end of the magnetic support block (682), an electromagnet block (685) is arranged in the rectangular mounting groove (681) and on a side away from the reset spring (683), and an action probe (686) is arranged on the upper end of the belt conveyor (3) on the side of the rectangular mounting groove (681), the action probe (686) is directly opposite to the gangue separation unit (67), and the action probe (686) is connected to the electromagnet block (685) through an electrical signal.

10. A gangue positioning device for gangue sorting robot with spatiotemporal feature fusion according to any one of claims 1 to 9, characterized in that: The positioning method of the gangue positioning device of the gangue selection robot with spatiotemporal feature fusion comprises the following steps: S1: manually moving the gangue positioning device of the gangue sorting robot with the spatiotemporal characteristics integrated to the gangue sorting location and starting the belt conveyor (3); S2: After the above step 1 is completed, the mined coal is manually added to the end of the belt conveyor (3) and the belt conveyor (3) drives the coal blocks to move toward the gangue separation assembly (6); S3: starting the coal breaking component (5), breaking the coal blocks by the coal breaking component (5) to expose the gangue, and then the broken coal and the gangue are synchronously transported to the gangue separation component (6) to form a coal bundle; S4: starting the gangue separation component (6), collecting and analyzing images of the coal bundles in each conveying process through the gangue separation component (6), and when gangue appears, the controller (65) controls the corresponding first electric push rod (64) and the gangue separation unit (67) to move, thereby clamping the gangue and separating it from the belt conveyor (3) through the gangue conveying unit (68); S5: Repeat the above step 4 to achieve the continuous positioning and removal operation of gangue in the coal.

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