A gangue positioning device and positioning method based on spatiotemporal feature fusion of gangue sorting robots

Abstract

The present invention relates to the technical field of coal gangue separation, and specifically to a coal gangue positioning device and positioning method for a gangue selection robot with time-space feature fusion, 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. The upper end of one side of the main frame is fixedly connected to an "M"-shaped frame plate, the lower end of the "M"-shaped frame plate on one side away from the fixed connection between the main frame and the main frame is fixedly installed with a coal breaking assembly, and the lower end of the middle part of the "M"-shaped frame plate is fixedly installed with a gangue separating assembly. By crushing the coal blocks and evenly distributing them on the belt conveyor to form a coal bundle, it is beneficial to expose the gangue, and at the same time it is convenient for the probe to quickly identify, thereby improving the gangue positioning efficiency. A separation mechanism in the form of a clamp is used instead of the traditional high-pressure airflow method of removing gangue, thereby avoiding dust, improving the environment around the equipment, improving the recognition accuracy of the probe, and facilitating the rapid separation of gangue.

Description

Technical Field

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

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

[0003] At present, the separation actuators equipped on gangue sorting robots mostly separate gangue by using high-pressure airflow through high-pressure nozzles to remove the gangue. 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 not only easily pollutes the environment around the equipment and affects the health of workers, but also easily blocks the image acquisition probe and reduces the probe's recognition sensitivity. In addition, gangue may be mixed in large pieces of coal, resulting in the image acquisition probe being unable to accurately collect gangue information, resulting in gangue positioning failure, which in turn affects the accuracy of gangue separation. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a coal gangue positioning device and positioning method that integrates the spatiotemporal characteristics of a gangue selection robot. By crushing the coal blocks and evenly distributing them on a belt conveyor to form a coal bundle, it is beneficial to expose the gangue, and at the same time facilitates rapid identification by the probe, thereby improving the gangue positioning efficiency. A separation mechanism in the form of a clamp is used instead of the traditional high-pressure airflow method of removing gangue, thereby avoiding dust, improving the environment around the equipment, improving the recognition 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 integrating spatiotemporal features of gangue selection robots, comprising a main frame, moving wheels symmetrically mounted on the bottom of the main frame and used for its movement, and a belt conveyor fixedly mounted on the upper end of the main frame, wherein an "M"-shaped frame plate is fixedly connected to the upper end of one side of the main frame, a coal breaking assembly is fixedly mounted on the lower end of the "M"-shaped frame plate away from the fixed connection with the main frame, and a gangue separating assembly is fixedly mounted on the lower middle end of the "M"-shaped frame plate;

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

[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 and at positions on both sides of the coal-breaking component.

[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. On both sides of the upper end of the main crushing tooth, telescopic connecting rods are symmetrically hinged. The end of the telescopic connecting rod far from the main crushing tooth is fixedly connected with 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. The lower end of the swing rod is fixedly connected with a splash-proof plate. On both sides of the main crushing tooth, auxiliary crushing teeth are symmetrically installed, and the auxiliary 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 on the upper end of the U-shaped frame body. The lower end of the support rod is fixedly connected with a C-shaped plate. The C-shaped plate has an opening facing downwards, and a strip-shaped chute is opened at the top of the C-shaped plate. The end of the crankshaft far from the driving motor is fixedly connected with a driving pulley. A screw rod is rotatably arranged in the middle of the C-shaped plate. The end of the screw rod is fixedly connected with a driven pulley. The driven pulley is connected with the driving pulley through an annular belt. A moving block is screwed on the screw rod. A limiting block is fixedly arranged on the upper end of the moving block. The upper end of the limiting block is slidably installed in the strip-shaped chute. The lower end of the moving block is fixedly connected with a fork.

[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, and 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, and 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. The lower end of the first electric push rod is fixedly connected to a push plate, and 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, a vertical rod is symmetrically installed on the edge of the lower end face of the push plate, an adapter is fixedly installed on the lower end of the vertical rod, a splint is hinged on the adapter through a torsion spring, a second electric push rod is fixedly installed in the middle of the lower end face 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 splint, and the pulleys are slidably installed in the limiting grooves.

[0014] Preferably, the gangue conveying unit includes a rectangular mounting groove, and a rectangular mounting groove is symmetrically provided 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, and a reset spring is provided 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, and an electromagnet block is provided in the rectangular mounting groove and on the side away from the reset spring. An action probe is provided on the upper end of the belt conveyor on the side of the rectangular mounting groove, and 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 sorting robot with spatiotemporal feature fusion comprises the following steps:

[0016] S1: manually move the gangue positioning device integrated with the spatiotemporal features of the gangue sorting robot to the gangue sorting area 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 toward the gangue separation assembly;

[0018] S3: Start the coal crushing assembly to crush the coal blocks and expose the gangue. Then the crushed coal and the gangue are transported to the gangue separation assembly synchronously to form a coal bundle.

[0019] S4: Start the gangue separation component, which collects and analyzes images of the coal bundles in each conveying process. When gangue appears, the controller controls the corresponding first electric push rod and the gangue separation unit to move, thereby clamping the gangue and separating it from the belt conveyor through the gangue conveying unit.

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

[0021] Beneficial effects of the present invention:

[0022] 1. In the coal crushing assembly, the coal crushing unit can quickly crush the coal blocks and prevent coal from splashing. At the same time, with the cooperation of the coal leveling unit, the coal can be evenly distributed on the belt conveyor and 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 will be further described below with reference to the accompanying drawings and examples.

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

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

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

[0028] Figure 4 This 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 of the gangue separation assembly of the present invention after removing the gangue conveying unit;

[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 the cross-sectional three-dimensional connection structure between the belt conveyor and the gangue conveying unit in the present invention.

[0033] In the picture:

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

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

[0036] 57. Coal crushing unit; 571. Main crushing teeth; 572. Extrusion spring; 573. Telescopic connecting rod; 574. Swing arm; 575. Elastic membrane; 576. Anti-splash plate; 577. Auxiliary crushing teeth;

[0037] 58. Coal leveling unit; 581. Frame rod; 582. Profile plate; 583. Driving pulley; 584. Endless belt; 585. Driven pulley; 586. Screw; 587. Moving block; 588. Limiting 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. Limiting 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 easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0042] Example 1:

[0043] See Figures 1 to 5 A gangue positioning device that integrates spatiotemporal features of gangue sorting robots includes a main frame 1, movable wheels 2 symmetrically mounted on the bottom of the main frame 1 for its movement, and a belt conveyor 3 fixedly mounted on 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 on 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 includes a circular frame 51, and the circular frame 51 is fixedly installed at the lower end of the "M"-shaped frame plate 4 away from the fixed connection between it and the main frame 1. A driving motor 52 is fixedly installed on the side wall of the circular frame 51 through a motor base. The output shaft of the driving motor 52 is fixedly connected to a 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 bottom of the circular frame 51 is linearly arranged through 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 links 573 are symmetrically hinged on both sides of the upper end of the main crushing tooth 571. The end of the telescopic link 573 away from the main crushing tooth 571 is fixedly connected to a rocker arm 574. Through grooves are symmetrically provided on both sides of the tamping head 56. The rocker arm 574 penetrates the groove and its middle part is hinged in the through groove. Elastic membranes 575 are provided in the through groove and on both sides of the rocker arm 574. The lower end of the rocker arm 574 is fixedly connected to a splash-proof plate 576. Auxiliary crushing teeth 577 are symmetrically installed on both sides of the main crushing tooth 571. The auxiliary crushing teeth 577 are fixedly connected to the bottom of the tamping head 56.

[0047] The coal-leveling unit 58 includes a frame rod 581, a 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 opened on the top of the shaped plate 582, the end of the crankshaft 53 away from the drive motor 52 is fixedly connected to the driving pulley 583, the middle part of the shaped plate 582 is rotatably provided with a screw 586, and the end of the screw 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 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 the lower end of the moving block 587 is fixedly connected to a shift fork 589, and the fork tine at the lower end of the fork 589 is made of rubber material and the lower end of the fork tine does not contact the upper end of the belt conveyor 3.

[0048] During the specific operation, the gangue positioning device integrated with the spatiotemporal characteristics of the gangue sorting robot is manually moved to the gangue sorting area 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] Start the drive motor 52, and the drive motor 52 drives the crankshaft 53 to rotate back and forth. 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 coil spring 55 will be compressed. The tamping head 56 and the coal breaking unit 57 will be driven downward synchronously by the ball head telescopic rod 54. 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 will move 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 splash-proof plates 576 on both sides will move toward the main crushing teeth 571 under the action of the swing rod 574. Under the action of the main crushing teeth 571, the auxiliary crushing teeth 577 and the tamping head 56, the coal blocks will be crushed, and the splash-proof plates 576 on both sides can gather the coal under the tamping head 56, which can prevent the coal from splashing and overflowing from 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 rotate reciprocatingly. Under the action of the annular belt 584, the driven pulley 585 and the screw 586 will also rotate reciprocatingly. Due to the presence of the limit block 588, the moving block 587 will drive the fork 589 to move back and forth along the screw 586. During this process, the fork 589 can spread the crushed coal evenly on the conveyor belt of the belt conveyor 3, thereby facilitating 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] Example 2:

[0052] The technical solution is basically the same as that of embodiment 1, see Figures 1 to 3 as well as Figures 6 to 8The difference is that: the lower middle end of the "M"-shaped frame plate 4 is fixedly installed with a gangue separating component 6, and the gangue separating component 6 includes a horizontal plate 61, and the lower middle end of the "M"-shaped frame plate 4 is fixedly connected to the horizontal plate 61, and a number of connecting frames 62 are evenly arranged on the side walls of the horizontal plate 61, and a gangue identification probe 63 is fixedly installed on the lower end of the connecting frame 62, and a first electric push rod 64 is fixedly installed on the lower end of the horizontal 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 separating 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 separating 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 splint 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 splint 673, and the pulley 677 is slidably installed in the limiting groove 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 the 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] It should be noted that, in this embodiment, the presence of the torsion spring enables the lower ends of the paired clamping plates 673 to be in abutment with each other.

[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 separating 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. When the gangue is identified, 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 separating unit 67 to move downward. During this process, the second electric push rod 674 will drive the pulling 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 will drive the pulling 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, and then the first electric push rod 64 will drive the pushing plate 66 and the gangue separating unit 67 to reset upward.

[0057] During the process of the first electric push rod 64 driving the push plate 66 and the gangue separating 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 separating 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 down 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 gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion, comprising the following steps:

[0059] S1: manually moving the gangue positioning device integrated with the spatiotemporal characteristics of the gangue sorting robot to the gangue sorting area 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 crushing assembly 5;

[0061] S3: Start the drive motor 52, and the drive motor 52 drives the crankshaft 53 to rotate back and forth. 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 coil 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 extrusion force, the main crushing tooth 571 will move toward the inside of the tamping head 56. At this time, the extrusion spring 572 is compressed, and under the action of the telescopic connecting rod 573, the main crushing tooth 571 will move 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. Under the action of the main crushing teeth 571, the auxiliary crushing teeth 577 and the ramming head 56, the coal blocks will be crushed. The anti-splashing plates 576 on both sides can gather the coal under the ramming head 56, which can prevent the coal from splashing and overflowing from 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 also drives the driving pulley 583 to rotate back and forth during the reciprocating rotation. Under the action of the endless belt 584, the driven pulley 585 and the screw 586 also rotate back and forth. Due to the existence of the limit block 588, the moving block 587 drives the shift fork 589 to move back and forth along the screw 586. During this process, the shift fork 589 can evenly spread the crushed coal on the conveyor belt of the belt conveyor 3, thereby making it easier to expose the gangue. When the lower end of the shift fork 589 contacts the gangue, it can scrape off the coal on its upper surface, 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 separating 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. When the gangue is identified, 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 separating 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 will drive 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 separating unit 67 to reset upward.

[0064] When the first electric push rod 64 drives the push plate 66 and the gangue separating 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 separating 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. 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 the continuous positioning and removal operation of gangue in the coal.

[0066] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gangue positioning device for gangue selection robots integrating spatiotemporal features, comprising a main frame (1), moving wheels (2) symmetrically mounted on the bottom of the main frame (1) and used for its movement, 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 end of the middle portion of the "M"-shaped frame plate (4); The coal breaking assembly (5) includes A return frame (51) is fixedly mounted on 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); 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 drive motor (52) is fixedly connected to the crankshaft (53), the crankshaft (53) is arranged inside the circular frame (51), and the end of the crankshaft (53) is away from the drive motor (52) and 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 of the ball-end telescopic rod (54) is close to the crankshaft (53); A coil spring (55) is provided on the ball-end telescopic rod (54) between the ball end of the ball-end telescopic rod (54) and the bottom of the return frame (51); A tamping head (56), wherein the lower end of the ball-end telescopic rod (54) is fixedly connected to the tamping head (56), and the interior of the tamping head (56) is a hollow structure; A coal breaking unit (57), wherein the tamping head (56) is provided with a coal breaking unit (57); The coal crushing unit (57) includes a main crushing tooth (571), the main crushing tooth (571) is provided through 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), and through grooves are symmetrically provided on both sides of the tamping head (56), the swing rod (574) passes through the groove and its middle part is hinged in the through groove, and elastic membranes (575) are provided in the through groove and at 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); 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 a gangue sorting robot with spatiotemporal feature fusion according to claim 1, 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 a gangue sorting robot with spatiotemporal feature fusion according to claim 1, characterized in that: Coal overflow baffles (32) are symmetrically installed on the upper end surface of the belt conveyor (3) and located on both sides of the coal breaking assembly (5).

4. The gangue positioning device of a gangue sorting robot with spatiotemporal feature fusion according to claim 1, characterized in that: The coal-leveling unit (58) includes a rack (581), the upper end of the circular frame (51) is symmetrically mounted with the rack (581), the lower end of the rack (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 drive motor (52) is fixedly connected to a driving pulley (583), and a screw (582) is provided in the middle of the shaped plate (582) for rotation. 586), the end of the screw rod (586) is fixedly connected to a driven pulley (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 mounted in the strip chute, and the lower end of the moving block (587) is fixedly connected to a shift fork (589).

5. The gangue positioning device of gangue sorting robot with spatiotemporal feature fusion according to claim 4, characterized in that: The fork tine at the lower end of the shift fork (589) is made of rubber material and the lower end of the fork tine does not contact the upper end of the belt conveyor (3).

6. The gangue positioning device of a gangue sorting robot with spatiotemporal feature fusion according to claim 1, characterized in that: The gangue separation component (6) includes a transverse plate (61), the lower end of the middle portion of the "M"-shaped frame plate (4) is fixedly connected to the transverse plate (61), a plurality of connecting frames (62) are evenly arranged on the side wall of the transverse plate (61), a gangue identification probe (63) is fixedly installed on the lower end of the connecting frame (62), a first electric push rod (64) is fixedly installed on the lower end of the transverse plate (61), a controller (65) is installed on the side wall of the first electric push rod (64), the controller (65) and the gangue identification probe (63) are connected via electrical signals, a push plate (66) is fixedly connected to the lower end of the first electric push rod (64), 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).

7. The gangue positioning device of gangue sorting robot with spatiotemporal feature fusion according to claim 6, characterized in that: The gangue separating unit (67) includes 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 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), and 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 groove (676).

8. The gangue positioning device of a gangue sorting robot with spatiotemporal feature fusion according to claim 6, characterized in that: The gangue conveying unit (68) includes a rectangular mounting groove (681), and 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), and a return spring (683) is provided 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 provided in the rectangular mounting groove (681) and on a side away from the return spring (683). An action probe (686) is provided 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.

9. A gangue positioning device for gangue sorting robot with spatiotemporal feature fusion according to any one of claims 6 to 8, characterized in that: The positioning method of the gangue positioning device of the gangue sorting robot with spatiotemporal feature fusion includes the following steps: S1: manually moving the gangue positioning device integrated with the spatiotemporal characteristics of the gangue sorting robot to the gangue sorting area 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) and exposing the gangue, and then the crushed coal and the gangue are synchronously transported toward 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, controlling the corresponding first electric push rod (64) and the gangue separation unit (67) to move through the controller (65), 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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