Coal gangue separation equipment based on depth vision

Abstract

The invention discloses coal gangue separation equipment based on depth vision, and relates to the technical field of coal gangue separation, the coal gangue separation equipment comprises a conveyor and a visual recognition device arranged on the conveyor, the tail end of the conveyor is further provided with a separation mechanism for separating coal and gangue, and the visual recognition device is used for recognizing the coal and the gangue. The separation mechanism is used for separating coal and gangue according to the recognition result of the visual recognition device; the separating mechanism comprises a bottom frame, a linear moving module and a guide plate, and the bottom frame is arranged at the tail end of the conveyor. The problem that in the prior art, when coal and gangue are separated, the labor intensity of manual separation of workers is large is solved. The coal and gangue separation device has the advantages that coal and gangue are recognized through the visual recognition device, and meanwhile, the gangue is separated through the separation mechanism at the tail end of the conveying belt, so that the coal and the gangue enter different storage frames correspondingly, and then the coal and the gangue are automatically separated.

Description

Technical Field

[0001] The present invention relates to the technical field of coal gangue separation, and in particular to a coal gangue separation device based on depth vision. Background Art

[0002] Gangue is solid waste discharged during the coal mining and coal washing processes. It is a black-gray rock with a low carbon content and harder than coal that accompanies the coal seam during the coal formation process. Gangue is generally mixed with coal during the coal mining process. In the later sorting work, the coal and gangue in the raw coal are separated and the gangue in the coal is removed.

[0003] In the prior art, when separating coal and gangue, due to the difference in color between coal and gangue, workers manually select and separate the coal and gangue on the conveyor belt according to the different colors of coal and gangue. This method of separation makes the workers' labor intensity high, and during separation, dust pollution and other conditions affect the health of the workers. There is a need for a device that can automatically separate coal and gangue according to their color.

[0004] In response to the above technical problems, the present invention discloses a coal gangue separation device based on depth vision. The present invention has the advantages of identifying coal and gangue through a visual recognition device, and separating the gangue through a separation mechanism at the end of a conveyor belt, so that the coal and gangue enter different storage frames respectively, thereby automatically separating the coal and gangue. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a coal-gangue separation device based on depth vision to solve the technical problems in the prior art such as the high labor intensity of manual separation by workers when separating coal and gangue. The present invention has the advantages of identifying coal and gangue through a visual recognition device, and separating the gangue through a separation mechanism at the end of the conveyor belt, so that the coal and gangue enter different storage frames respectively, thereby automatically separating the coal and gangue.

[0006] The present invention is implemented through the following technical solutions: The present invention discloses a coal gangue separation device based on depth vision, comprising a conveyor and a visual recognition device arranged on the conveyor, and a separation mechanism for separating coal and gangue is also arranged at the end of the conveyor, the visual recognition device is used to identify the coal and gangue, and the separation mechanism is used to separate the coal and gangue according to the recognition result of the visual recognition device; The separation mechanism includes a base frame, a linear moving module and a guide plate. The base frame is arranged at the end of the conveyor, and a storage frame 1 is arranged between the base frame and the conveyor. A storage frame 2 is arranged at the other end of the base frame, and the upper end surfaces of the storage frame 2 and the storage frame 1 are lower than the conveyor belt of the conveyor. A guide plate is arranged obliquely above the base frame, and the guide plate is laterally moved above the base frame through the linear moving module. The highest point of the guide plate is close to the end of the conveyor, and the lowest point is close to the storage frame 2. A contact plate is arranged at the end of the conveyor, and the highest point end of the guide plate is in contact with the contact plate.

[0007] Furthermore, the guide plate is composed of several plate bodies, and the several plate bodies are arranged equidistantly along the width direction of the conveyor belt, and there is a spacing between adjacent plate bodies. The linear moving modules are also set to multiple, and the number of linear moving modules is the same as the plate bodies, and each plate body corresponds to a linear moving module.

[0008] Furthermore, limit plates are respectively arranged on both sides of the plate body, and the limit plates can be extended and retracted on one side of the plate body, and the extension and retraction of the limit plates on the plate body is controlled by the movement of the plate body on the adjacent side.

[0009] Furthermore, the extension and retraction of the limit plates on both sides of the plate body are set to be independent of each other, and lifting plates are respectively provided on both sides below the plate body. The lifting plates are longitudinally moved below the plate body by the limitation of the sliding rod, and the bottom ends of the limit plates are fixedly connected to the upper end surfaces of the lifting plates on the same side. A control groove is opened horizontally through the interior of the limit plate, and the control groove is set to an inclined state along the length direction of the limit plate. Slide grooves are opened on both side end surfaces of the plate body, and a slider is slidingly set inside the slide groove. A control rod is provided between the two adjacent plate bodies, and the two ends of the control rod are respectively passed through the control grooves to pass through the limit plates on both sides and are fixedly connected to the slider.

[0010] Furthermore, both ends of the plate body are detachably connected with sealing plates, and a locking assembly is provided at one end of the plate body facing the abutting plate. The locking assembly is used to lock the position of the slider, and the locking assembly is installed inside the sealing plate at one end of the plate body facing the conveyor.

[0011] Furthermore, the locking assembly includes an installation cylinder, a plug-in block, a plug-in slot, a locking portion and a trigger portion. The installation cylinder is installed inside the sealing plate, and a plug-in block is fixedly provided at one end of the installation cylinder facing the plate body, and the plug-in block is located inside the slide groove. A plug-in slot is provided on a side of the slider facing the sealing plate, and the plug-in block is slidably plugged into the plug-in slot. A locking portion is provided inside the plug-in block, and a locking hole that cooperates with the locking portion is provided on the inner wall of the plug-in slot. A trigger portion is provided inside the installation cylinder, and the trigger portion controls the locking portion by contacting and separating with the abutting plate.

[0012] Furthermore, the locking part includes a movable groove, a wedge block, a groove, an extension hole, a locking rod and a guide ball. The movable groove is opened at the center of the plug-in block, and the wedge block is slidably inserted inside the movable groove. The upper end surface of the wedge block is concave downward and provided with a groove, and the inner wall of one side of the groove is inclined. An extension hole is opened above the movable groove, and the extension hole passes through the upper end surface of the plug-in block. A locking rod is slidably inserted inside the extension hole, and a guide ball is fixedly arranged at the bottom end of the locking rod. The bottom surface of the guide ball contacts the bottom wall of the groove. The locking rod rebounds downward through the elastic member, and the locking rod is plugged into the locking hole.

[0013] Furthermore, the trigger part includes a through hole, a trigger rod, a clearance hole, a retaining ring and a spring. A through hole is opened at the center of the mounting tube, and a trigger rod is slidably inserted inside the through hole, and one end of the trigger rod is fixedly connected to the wedge block, and the other end of the trigger rod is fitted with the abutment plate. A retaining ring is also fixedly sleeved on the outer wall of the trigger rod, and a clearance hole for the retaining ring to move horizontally is opened inside the mounting tube. A spring is arranged on one side of the retaining ring, and the spring is used to rebound the trigger rod toward the abutment plate.

[0014] The present invention has the following advantages: The present invention provides a conveyor, a visual recognition device, and a separation mechanism, so that when the coal and the gangue are separated, the visual recognition device recognizes the coal and the gangue according to their colors, and the visual recognition device recognizes the position and size of the gangue, and then controls a corresponding number of plates at corresponding positions to move through a linear moving module, so that a gap corresponding to the position and size of the gangue is opened on the guide plate, so that the gangue falls directly into the storage frame below through the gap, thereby separating the coal and the gangue, and by providing limit plates on both sides of each plate, and the limit plates are set to a telescopic state, when the plate moves to open the gap, two limit plates can be formed on both sides of the gap, thereby limiting the gap, preventing the coal from deviating from the direction when rolling and entering the gap to mix with the gangue, thereby affecting the separation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the visual recognition device of the present invention; Figure 3 It is a schematic diagram of the structure of the chassis and the linear motion module of the present invention; Figure 4 It is a side view structural schematic diagram of the linear motion module of the present invention; Figure 5 This is a schematic diagram of the board moving to open a space in the present invention; Figure 6 For the present invention Figure 1 A local enlarged structural schematic diagram; Figure 7 It is a schematic diagram of the plate structure of the present invention; Figure 8 It is a schematic diagram of the exploded structure of the plate body and the limiting plate of the present invention; Fig. 9 It is a schematic diagram of the partial structure of the guide plate of the present invention; Fig.10 For the present invention Fig. 9 A schematic diagram of the local enlarged structure at B; Fig.11 It is a schematic diagram of the plate body and the slide groove structure of the present invention; Fig.12 For the present invention Fig.11 A schematic diagram of the local enlarged structure at C; Fig.13 It is a schematic diagram of the structure of the plate body and the limiting plate of the present invention; Fig.14 It is a schematic diagram of the locking assembly structure of the present invention; Fig.15 It is a schematic diagram of the internal structure of the locking assembly of the present invention; Fig.16 It is a schematic diagram of the cross-sectional structure of the slider of the present invention; Fig.17 It is a schematic diagram of the internal structure of the installation tube of the present invention; Fig.18 For the present invention Fig.15 Schematic diagram of the local enlarged structure at D.

[0016] In the figure: 1, conveyor; 2, visual recognition device; 3, separation mechanism; 4, mounting plate; 5, storage frame 1; 6, storage frame 2; 7, abutment plate; 8, limit plate; 9, lifting plate; 10, slide bar; 11, slide hole; 12, control slot; 13, control rod; 14, slider; 15, slide slot; 16, sealing plate; 17, locking assembly; 18, locking hole; 19, elastic member; 201, dark box; 202, visual system; 203, light source system; 301, chassis; 302, linear moving module ; 303, guide plate; 331, plate body; 321, slide rail; 322, screw rod; 323, moving block; 324, drive motor; 171, mounting tube; 172, plug-in block; 173, plug-in slot; 174, trigger part; 175, locking part; 741, through hole; 742, trigger rod; 743, clearance hole; 744, retaining ring; 745, spring; 751, moving slot; 752, wedge block; 753, groove; 754, extension hole; 755, locking rod; 756, guide ball. DETAILED DESCRIPTION

[0017] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given. However, the protection scope of the present invention is not limited to the following embodiments. In the description of the present invention, words indicating directions or positional relationships such as "front", "rear", "left", and "right" are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0018] The embodiment discloses a coal gangue separation device based on depth vision, such as Figure 1-Figure 18 As shown, it includes a conveyor 1 and a visual recognition device 2 arranged on the conveyor 1, such as Figure 1 As shown, a separation mechanism 3 is also provided at the end of the conveyor 1, through which the coal and gangue are transported, and at the same time, the visual recognition device 2 identifies the coal and gangue on the conveyor belt according to their colors. After identification, the separation mechanism 3 is controlled to remove and separate the gangue according to the size and position of the gangue.

[0019] Specifically, Figure 1-Figure 2 As shown, the visual recognition device 2 is a dark box 201 visual recognition system, including a dark box 201 and a visual system 202 and a light source system 203 installed inside the dark box 201. By setting the dark box 201, light source interference can be reduced and the stability of visual recognition can be increased. The dark box 201 is fixedly installed on the frame of the conveyor 1 through a frame. Specifically, mounting plates 4 are fixedly provided above the frames on both sides of the conveyor belt of the conveyor 1, and the bases on both sides of the frame are fixedly installed on the mounting plates 4 on both sides of the conveyor belt, and the dark box 201 covers the conveyor 1 in the width direction to ensure that the visual system 202 inside the dark box 201 can identify the mixture of coal and gangue on the conveyor belt, and the visual system 202 is configured to distinguish and identify gangue and coal by color, and identify the position and size of gangue, and control the separation mechanism 3 through the control system to remove the gangue at the corresponding position.

[0020] like Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the separation mechanism 3 includes a base frame 301, a linear moving module 302 and a guide plate 303, wherein the base frame 301 is arranged at the end of the conveyor 1, and the base frame 301 is fixedly installed on the ground, and a gap is provided between the base frame 301 and the end of the conveyor 1, and a storage frame 1 5 is provided in this gap between the base frame 301 and the conveyor 1, the opening of the storage frame 1 5 faces upward, and the upper end surface of the storage frame 1 5 is lower than the conveyor belt of the conveyor 1, so that the stones transported on the conveyor 1 can fall directly from the end of the conveyor 1 to the inside of the storage frame 1 5, and in addition, a storage frame 2 6 is provided at the other end of the base frame 301, and the storage frame 2 6 and the storage frame 1 5 are respectively located on both sides of the base frame 301, and the storage frame 2 6 and the storage frame 1 1-5 are the same, both of which are opened upward, and the upper end surface is lower than the conveyor belt of conveyor 1. A linear movable module 302 is also arranged above the base frame 301. It should be noted that the top plate of the base frame 301 is set in an inclined state, and the inclination angle of the top plate of the base frame 301 is, the highest point is close to the end of the conveyor 1, and the lowest point is close to the storage frame 26. A linear movable module 302 is fixedly installed on the top plate above the base frame 301, and a guide plate 303 is fixedly arranged on the moving block 323 of the linear movable module 302. The linear movable module 302 is used to move the guide plate 303 toward the direction of the storage frame 26. The guide plate 303 and the linear movable module 302 are also inclined, and the inclination direction is the same as that of the top plate of the base frame 301.

[0021] The specific position of the guide plate 303 is set as follows: one end of the guide plate 303 is close to the conveyor belt at the end of the conveyor 1 and is lower than the upper end surface of the conveyor belt; an abutment plate 7 is provided at the end of the conveyor 1, and both sides of the abutment plate 7 are fixedly connected to the frame of the conveyor 1 respectively, and the abutment plate 7 is inclinedly set, the highest point of the abutment plate 7 is in contact with the end of the conveyor belt and is lower than the conveyor belt, and one end of the lowest point of the abutment plate 7 is in contact with one end of the guide plate 303, and the other end of the guide plate 303 is above the top plate of the base frame 301, and the guide plate 303 is located above the storage frame 1 5, the gap between the base frame 301 and the end of the conveyor belt is connected by the guide plate 303, and when the moving block 323 of the linear moving module 302 drives the guide plate 303 to move toward the storage frame 2 6, the end of the guide plate 303 in contact with the conveyor belt can be moved away from the conveyor belt, so that the opening of the storage frame 1 5 below is exposed.

[0022] In addition, the linear motion module 302 is configured to be electrically driven, and the linear motion module 302 specifically includes a slide rail 321, a screw rod 322, a moving block 323 and a driving motor 324. A moving block 323 is slidingly arranged on the slide rail 321, and the moving block 323 is threadedly connected to the screw rod 322. The screw rod 322 is driven to rotate by the driving motor 324, and then the driving motor 324 makes the screw rod 322 rotate to control the moving block 323 to move along the slide rail 321.

[0023] Through the above-mentioned arrangement, when the conveyor 1 transports coal and gangue, under normal circumstances, when there is coal on the conveyor belt, the drive motor 324 is turned off, so that one end of the guide plate 303 is in contact with the conveyor belt, and the coal can be transported toward the end through the conveyor 1. When the coal falls after being transported to the end, it rolls toward the inside of the storage frame 2 6 through the guidance of the guide plate 303, and then the coal is stored. When the visual recognition device 2 recognizes the gangue, it controls the drive motor 324 to start, so that the guide plate 303 moves toward the direction of the storage frame 2 6, and then the guide plate 303 is separated from the conveyor belt. The gangue can fall downward from the end of the conveyor belt and directly fall into the storage frame 1 5, thereby separating the coal and gangue.

[0024] In addition, if Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, the guide plate 303 is configured to be composed of a plurality of plate bodies 331, and the plurality of plate bodies 331 are arranged equidistantly along the width direction of the conveyor belt, and a spacing is provided between adjacent plate bodies 331. Correspondingly, a plurality of linear moving modules 302 are also configured, and the number of the linear moving modules 302 is the same as that of the plate bodies 331, and each plate body 331 corresponds to a linear moving module 302, so that each plate body 331 can be moved independently.

[0025] Therefore, through the above-mentioned arrangement, when the conveyor belt is transporting coal and gangue, the visual recognition device 2 identifies the position and size of the gangue, and then controls the plate 331 at the corresponding position to move through the linear moving module 302, so that a gap corresponding to the position of the gangue is opened on the guide plate 303, and then the gangue on the conveyor belt falls directly into the storage frame 5 below through this gap, thereby separating the coal and gangue. It should be noted that according to the size of the identified gangue, the corresponding number of plates 331 are controlled to move, thereby opening the gap corresponding to the size of the gangue to adapt to gangue of different sizes, thereby completing the automatic separation of coal and gangue.

[0026] In actual separation work, when the conveyor 1 transports coal and gangue, after the visual recognition device 2 identifies the gangue, it moves the corresponding number of plates 331 at the corresponding positions toward the storage frame 6 according to the position and size of the gangue, so that the gangue falls into the storage frame 5 from the gap opened by the movement of the plates 331. In this process, the plates 331 at the corresponding positions of the coal will not move, and then the coal on the conveyor belt will roll from the top of the plates 331 to the inside of the storage frame 6 under the guidance of the plates 331. When the coal rolls down from the top of the plates 331, since the coal is basically an irregular stone, it may deviate during the falling process. In particular, the coal close to the gangue may deviate from the rolling direction and enter the gap opened by the movement of the plates 331. Then the coal will enter the storage frame 5 and mix with the gangue, affecting the accuracy of the separation of coal and gangue.

[0027] In order to avoid the above situation, Figure 1 , Figure 6 , Figure 7-Figure 9 As shown, limiting plates 8 are provided on both sides of each plate body 331, and the plate body 331 is limited in the width direction by the limiting plates 8 provided on both sides of the plate body 331. Since limiting plates 8 are provided on both sides of each plate body 331, when the size of the coal is larger than the width of a single plate body 331, the coal needs to span two or more plate bodies 331, and the limiting plates 8 will affect the rolling of the coal. Therefore, in order to avoid the limiting plates 8 on both sides affecting the rolling of the coal, the limiting plates 8 on both sides are set to a telescopic state.

[0028] In addition, the extension and retraction of the upper limit plate 8 on the plate body 331 are controlled by the movement of the adjacent side plate body 331. Specifically, when the plate body 331 needs to move to open the gap so that the gangue can fall into the storage frame 5, the movement of the plate body 331 can cause the limit plates 8 on the opposite sides of the plate bodies 331 on both sides of the gap to extend, and then the gap is limited by the limit plates 8 on both sides of the gap. In other words, when the plate body 331 moves to open the gap so that the gangue falls from the gap into the storage frame 5, the limit plates 8 on both sides of the gap will extend to limit the gap in the width direction, so that when the coal on both sides of the gap rolls down from the plate body 331, the coal is prevented from entering the gap.

[0029] And when the limiting plate 8 contracts, the upper end surface of the limiting plate 8 is not higher than the upper end surface of the plate body 331. In other words, when the limiting plate 8 contracts and descends, the upper end surface of the limiting plate 8 is lower than the upper end surface of the plate body 331 or is in the same plane as the upper end surface of the plate body 331, thereby preventing the limiting plate 8 from affecting the rolling of the coal above the plate body 331. When the limiting plate 8 rises and extends, the upper end surface of the limiting plate 8 is higher than the upper end surface of the plate body 331, so that the limiting plate 8 is limited on both sides of the gap to block the rolling coal and prevent the coal from entering the gap and mixing into the gangue frame.

[0030] It should be noted that the extension and retraction of the limit plates 8 on both sides of the plate body 331 are set to be independent of each other. The extension and retraction of the limit plates 8 on one side of the plate body 331 will not drive the limit plates 8 on the other side to move, so that when the plate body 331 moves to open a space, only the limit plates 8 on both sides of the space will extend out for limiting.

[0031] Specifically, Figure 1 , Figure 6 , Figure 7-Figure 13 As shown, a lifting plate 9 is respectively provided on both sides below each plate body 331, and the two lifting plates 9 are independent of each other, and the lifting plate 9 is limited by a sliding rod 10 to move longitudinally below the plate body 331. More specifically, sliding rods 10 are fixedly provided on both sides below the plate body 331, and a sliding hole 11 is opened inside the lifting plate 9. The lifting plate 9 is slidably sleeved on the outside of the sliding rod 10 through the sliding hole 11, so that the lifting and lowering of the lifting plate 9 can be limited by the sliding rod 10, and a limiting plate is also fixedly provided at the bottom end of the sliding rod 10, and the limiting plate is located below the lifting plate 9, and the outer diameter of the limiting plate is larger than the inner diameter of the sliding hole 11, so that the lifting plate 9 is longitudinally limited by the limiting plate to prevent the lifting plate 9 from separating from the sliding rod 10.

[0032] The bottom ends of the limit plates 8 on both sides of the plate body 331 are respectively fixedly connected to the upper end surfaces of the lifting plates 9 on the same side, and then the lifting and lowering of the limit plates 8 are controlled by the lifting and lowering of the lifting plates 9, so that the limit plates 8 are extended and retracted, and the lifting and lowering of the lifting plates 9 needs to be set to make the lifting plates 9 move longitudinally by moving the adjacent side plate body 331. Therefore, a control groove 12 is opened horizontally through the inside of each limit plate 8, and the control groove 12 is set to an inclined state along the length direction of the limit plate 8. The specific inclination angle is set so that the highest point end is close to the conveyor belt, and The lowest point is close to the direction of the storage frame 26. A control rod 13 is movably inserted into the control groove 12 inside the two adjacent limit plates 8. The control rod 13 is located between the two adjacent plate bodies 331. In addition, a slide groove 15 is provided on both side end faces of each plate body 331, and a slider 14 is slidably arranged inside the slide groove 15. The two ends of the control rod 13 between the two adjacent plate bodies 331 respectively pass through the limit plates 8 on both sides and are fixedly connected to the sliders 14 on both sides. The movement of the control rod 13 is limited by setting the slider 14 and the slide groove 15.

[0033] The control groove 12 is configured such that when the control rod 13 moves inside the control groove 12 along the length direction of the plate body 331 and moves toward the storage frame 26, the limit plate 8 rises through the inclined setting of the control groove 12, and vice versa, the limit plate 8 falls. In addition, sealing plates 16 are detachably connected to both ends of each plate body 331, and the sealing plates 16 are used to seal the openings at both ends of the slide groove 15.

[0034] It should be noted that when the plate body 331 is in contact with the abutment plate 7 , the position of the slider 14 inside the plate body 331 is at the highest point of the plate body 331 , and the position of the control rod 13 inside the control groove 12 is at the highest point of the control groove 12 .

[0035] Through the above arrangement, when the plate body 331 is moved toward the storage frame 2 6 under the control of the linear moving module 302, thereby opening the corresponding space so that the gangue can fall into the storage frame 1 5, when the plate body 331 moves, the moving plate body 331 will drive the control rods 13 on both sides to move synchronously, and the plates 331 on both sides of the moving plate body 331 will remain stationary. At this time, since the limit plate 8 is connected to the plate body 331, the moving plate body 331 will synchronously drive the limit plates 8 on both sides to move. The movable plate 331 moves synchronously with the limit plate 8 and the control rod 13, which will keep the limit plate 8 in a retracted state. As for the stationary plate 331 on the opposite sides, the movable plate 331 will move the control rod 13 and the control rod 13 moves inside the control slot 12 of the limit plate 8 of the stationary plate 331. The limit plate 8 rises through the inclined control slot 12, and then the limit plates 8 on the opposite sides of the plate 331 on both sides of the gap extend out to limit the gap, so as to prevent the coal from deviating and entering the gap when rolling.

[0036] Furthermore, through the above arrangement, no matter how many plates 331 are moved, only the limiting plates 8 on both sides of the gap will be extended to limit the position, thereby preventing the limiting plates 8 at other positions from extending to affect the rolling of the coal.

[0037] Afterwards, when the gangue enters the storage frame 5 from the gap, the linear moving module 302 controls the moving plate 331 to reset and re-seal the gap. Considering that when the plate 331 moves toward the conveyor belt to reset, since the slider 14 is in the end of the slide trough 15 facing the conveyor 1, the reset of the plate 331 will result in the slider 14 being stationary, and the plate 331 being reset alone, making it impossible for the slider 14 to reset. Therefore, a locking assembly 17 is provided at one end of each plate 331 facing the abutting plate 7, and two locking assemblies 17 are provided on each plate 331, and the two locking assemblies 17 are respectively used to lock the slider 14 on each plate 331.

[0038] Specifically, Fig. 9 , Fig.10 , Fig.11 , Figure 14-18As shown, the locking component 17 is installed inside the sealing plate 16 at one end of the plate body 331 facing the conveyor 1, and the locking component 17 is used to connect and fix the slider 14 to the sealing plate 16 at one end of the plate body 331 facing the conveyor 1. In addition, the locking trigger condition of the locking component 17 is set to that when the plate body 331 is separated from the abutment plate 7, the locking component 17 locks the slider 14, and when the plate body 331 contacts the abutment plate 7, the locking component 17 is unlocked, and the slider 14 can move inside the slide groove 15.

[0039] More specifically, the locking assembly 17 includes a mounting tube 171, a plug-in block 172, a plug-in slot 173, a locking portion 175 and a trigger portion 174, wherein the mounting tube 171 is mounted inside the sealing plate 16, and a plug-in block 172 is fixedly provided at one end of the mounting tube 171 facing the plate body 331, and the plug-in block 172 is located inside the slide groove 15, and correspondingly, a plug-in slot 173 is provided on one side of the slider 14 facing the sealing plate 16, and the plug-in block 172 is slidably plugged into the plug-in slot 173, and a locking portion 175 is provided inside the plug-in block 172, and a locking hole 18 cooperating with the locking portion 175 is provided on the inner wall of the plug-in slot 173, and in addition, a trigger portion 174 is provided inside the mounting tube 171, and the trigger portion 174 controls the locking portion 175 by contacting and separating with the abutting plate 7.

[0040] The locking portion 175 includes a moving groove 751, a wedge block 752, a groove 753, an extension hole 754, a locking plug rod 755 and a guide ball 756, wherein the moving groove 751 is opened at the center of the plug-in block 172, and the moving groove 751 is slidably inserted with a wedge block 752 inside, and the upper end surface of the wedge block 752 is concave downward and has a groove 753, and the inner wall of one side of the groove 753 is in an inclined state, and the upper part of the moving groove 751 is connected to the extension hole 754, and the extension hole 754 passes through the upper end surface of the plug-in block 172, and the extension hole 754 passes through the upper end surface of the plug-in block 172. 54 is internally slidably inserted with a locking rod 755, and a guide ball 756 is fixedly provided at the bottom end of the locking rod 755, the bottom surface of the guide ball 756 is in contact with the bottom wall of the groove 753, and the locking rod 755 also rebounds downward through the elastic member 19, so that the guide ball 756 abuts against the bottom wall of the groove 753. In addition, the inner wall of one side of the groove 753 is specifically configured so that when the wedge block 752 moves toward the mounting cylinder 171, the guide ball 756 is moved upward through the inclined inner wall of one side of the groove 753, thereby causing the locking rod 755 to rise.

[0041] It should be noted that when the upper end surface of the wedge block 752 contacts the guide ball 756, the top end of the locking rod 755 extends out of the extension hole 754, and the locking rod 755 is inserted into the locking hole 18, thereby connecting the slider 14 with the plug-in block 172, so that the slider 14 cannot move and is locked. When the guide ball 756 contacts the bottom wall of the groove 753, the top end of the locking rod 755 shrinks to the inside of the extension hole 754, and the slider 14 cannot be limited, and the slider 14 can move inside the slide groove 15.

[0042] like Figure 15-18 As shown, the trigger portion 174 includes a through hole 741, a trigger rod 742, a clearance hole 743, a retaining ring 744 and a spring 745, wherein a through hole 741 is opened at the center of the mounting tube 171, and the size of the through hole 741 is larger than the size of the movable groove 751, the wedge block 752 can move inside the through hole 741, and the trigger rod 742 is slidably inserted inside the through hole 741, and one end of the trigger rod 742 is fixedly connected to the wedge block 752, and the other end of the trigger rod 742 is fitted with the abutment plate 7, and the outer wall of the trigger rod 742 is also fixedly sleeved with a retaining ring 744, and a clearance hole 743 is opened inside the mounting tube 171, the retaining ring 744 can move laterally inside the clearance hole 743, and a spring 745 is arranged on one side of the retaining ring 744, and the other end of the spring 745 contacts the inner wall of the clearance hole 743, and the spring 745 is used to rebound the trigger rod 742 toward the abutment plate 7.

[0043] When the locking cam 754 is in the unlocked state, the locking cam 754 is in the unlocked state, and ... 742 will move toward the abutment plate 7 under the rebound of spring 745, and the trigger rod 742 will synchronously drive the wedge block 752 to move, and then the inclined inner wall of one side of the groove 753 will contact the guide ball 756 through the movement of the wedge block 752, and the guide ball 756 will rise, and then the locking rod 755 will extend and insert into the locking hole to limit the slider 14, and then when the plate body 331 is reset later, the slider 14 is limited, and the slider 14 can maintain the position inside the slide groove 15 to control the control rod 13 to reset and move so that the limit plate 8 of the adjacent side plate body 331 will drop and shrink.

[0044] The principle of the present invention is as follows: when the present invention is in use, the conveyor 1 is started to convey the coal and gangue toward the storage frame 5, and at the same time the visual recognition device 2 identifies the coal and gangue according to their colors, and the visual recognition device 2 identifies the position and size of the gangue, and then controls the corresponding number of plates 331 at the corresponding positions to move through the linear moving module 302, so that a gap corresponding to the position and size of the gangue is opened on the guide plate 303, so that the gangue falls directly through the gap into the storage frame 5 below, thereby separating the coal and gangue, and when the plate 331 is moving, the movement of the plate 331 makes the limiting plates 8 facing each other on both sides of the gap extend to limit the two sides of the gap, so as to prevent the coal from deviating and entering the gap when rolling.

[0045] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A coal gangue separation device based on depth vision, comprising a conveyor (1) and a visual recognition device (2) arranged on the conveyor (1), and a separation mechanism (3) for separating coal and gangue is also arranged at the end of the conveyor (1), characterized in that: The visual recognition device (2) is used to identify coal and gangue, and the separation mechanism (3) is used to separate the coal and gangue according to the recognition result of the visual recognition device (2); The separation mechanism (3) comprises a base frame (301), a linear motion module (302) and a guide plate (303); the base frame (301) is arranged at the end of the conveyor (1); a storage frame 1 (5) is arranged between the base frame (301) and the conveyor (1); a storage frame 2 (6) is arranged at the other end of the base frame (301); the upper end surfaces of the storage frame 2 (6) and the storage frame 1 (5) are both lower than the conveyor belt of the conveyor (1); a guide plate (303) is arranged obliquely above the base frame (301); the guide plate (303) is moved transversely above the base frame (301) through the linear motion module (302); the highest point of the guide plate (303) is close to the end of the conveyor (1); the lowest point is close to the storage frame 2 (6); and a contact plate (7) is arranged at the end of the conveyor (1); the highest end of the guide plate (303) is in contact with the contact plate (7).

2. The coal gangue separation device based on depth vision according to claim 1, characterized in that: The guide plate (303) is composed of a plurality of plate bodies (331), and the plurality of plate bodies (331) are arranged equidistantly along the width direction of the conveyor belt, and a spacing is provided between adjacent plate bodies (331). The linear motion modules (302) are also provided in a plurality, and the number of the linear motion modules (302) is the same as that of the plate bodies (331), and each of the plate bodies (331) corresponds to a linear motion module (302).

3. The coal gangue separation device based on depth vision according to claim 2, characterized in that: Limiting plates (8) are respectively arranged on both sides of the plate body (331), and the limiting plates (8) can be extended and retracted on one side of the plate body (331), and the extension and retraction of the limiting plates (8) on the plate body (331) is controlled by the movement of the plate body (331) on an adjacent side.

4. The coal gangue separation device based on depth vision according to claim 3, characterized in that: The extension and retraction of the limit plates (8) on both sides of the plate body (331) are arranged to be independent of each other. A lifting plate (9) is arranged on both sides below the plate body (331). The lifting plate (9) moves longitudinally below the plate body (331) through the limit of the slide rod (10). The bottom ends of the limit plates (8) are fixedly connected to the upper end faces of the lift plates (9) on the same side. A control groove (12) is arranged to penetrate the inside of the limit plates (8) transversely, and the control groove (12) is arranged to be in an inclined state along the length direction of the limit plates (8). The end faces of both sides of the plate body (331) are arranged to have a slide groove (15). A slide block (14) is slidably arranged inside the slide groove (15). A control rod (13) is arranged between two adjacent plate bodies (331), and the two ends of the control rod (13) pass through the limit plates (8) on both sides through the control groove (12) and are fixedly connected to the slide block (14).

5. The coal gangue separation device based on depth vision according to claim 4, characterized in that: Both ends of the plate body (331) are detachably connected to sealing plates (16), and one end of the plate body (331) facing the abutting plate (7) is provided with a locking assembly (17), the locking assembly (17) being used to lock the position of the slider (14), and the locking assembly (17) is installed inside the sealing plate (16) at one end of the plate body (331) facing the conveyor (1).

6. The coal gangue separation device based on depth vision according to claim 5, characterized in that: The locking assembly (17) comprises a mounting tube (171), a plug-in block (172), a plug-in slot (173), a locking portion (175) and a trigger portion (174); the mounting tube (171) is mounted inside the sealing plate (16); the plug-in block (172) is fixedly provided at one end of the mounting tube (171) facing the plate body (331); the plug-in block (172) is located inside the slide slot (15); and the sliding block (14) is provided on one side facing the sealing plate (16). A plug-in slot (173) is provided, and a plug-in block (172) is slidably plugged into the plug-in slot (173); a locking portion (175) is provided inside the plug-in block (172); a locking hole (18) that cooperates with the locking portion (175) is provided on the inner wall of the plug-in slot (173); a trigger portion (174) is provided inside the mounting tube (171); and the trigger portion (174) controls the locking portion (175) by contacting and separating with the abutment plate (7).

7. The coal gangue separation device based on depth vision according to claim 6, characterized in that: The locking portion (175) comprises a movable groove (751), a wedge block (752), a groove (753), an extension hole (754), a locking plug rod (755) and a guide ball (756); the movable groove (751) is provided at the center of the plug-in block (172); a wedge block (752) is slidably plugged into the movable groove (751); the upper end surface of the wedge block (752) is concave downwardly and provided with a groove (753); and one side inner wall of the groove (753) is inclined; the movable groove (751) is provided with a locking plug rod (755) and a guide ball (756); An extension hole (754) is provided above the connecting block (171), and the extension hole (754) passes through the upper end surface of the plug-in block (172); a locking rod (755) is slidably inserted into the interior of the extension hole (754), and a guide ball (756) is fixedly provided at the bottom end of the locking rod (755); the bottom surface of the guide ball (756) contacts the bottom wall of the groove (753); the locking rod (755) rebounds downward through the elastic member (19), and the locking rod (755) is plugged into and matched with the locking hole (18).

8. The coal gangue separation device based on depth vision according to claim 7, characterized in that: The trigger portion (174) comprises a through hole (741), a trigger rod (742), a clearance hole (743), a retaining ring (744) and a spring (745). The mounting tube (171) is provided with a through hole (741) at the center thereof. The trigger rod (742) is slidably inserted into the through hole (741). One end of the trigger rod (742) is fixedly connected to a wedge block (752). The other end of the trigger rod (742) is fitted with an abutment plate (7). A retaining ring (744) is fixedly sleeved on the outer wall of the trigger rod (742). A clearance hole (743) for the retaining ring (744) to move laterally is provided inside the mounting tube (171). A spring (745) is provided on one side of the retaining ring (744). The spring (745) is used to rebound the trigger rod (742) toward the abutment plate (7).

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