Underground intelligent gangue sorting and filling mining method and device

Abstract

The invention discloses an underground intelligent gangue sorting and filling mining method and device, and relates to a gangue sorting technic.The underground intelligent gangue sorting and filling mining device comprises a conveying mechanism used for conveying coal and gangue and an optical intelligent recognition unit and further comprises a sorting mechanism located below the tail end of the conveying mechanism, and the sorting mechanism comprises a plurality of pushing units arranged side by side; the pushing unit comprises an air cylinder, the movable end of the air cylinder is fixedly connected with a moving rod, and the moving rod is provided with a pushing plate through a first rotating shaft and a torsional spring; according to the underground intelligent gangue sorting and filling mining method and device, when gangue falls off, the corresponding pushing units are controlled to be started, the moving rods are pushed to move through the corresponding air cylinders so that the pushing plates can move to the gangue falling path, when the gangue collides with the pushing plates, the pushing plates rotate to a certain degree, and the gangue is separated from the pushing plates; and the impact of the torsional spring on the pushing plate is buffered, so that the service life of the pushing plate is prolonged, and the gangue separation effect of the pushing plate is ensured.

Description

Technical Field

[0001] The invention relates to a gangue sorting technology, and in particular to an underground intelligent gangue sorting and filling mining method and device. Background Art

[0002] When coal is mined from underground, it will be accompanied by gangue. If the gangue is not removed, it will not only reduce the coal combustion rate, but its combustion products will also cause environmental pollution and hinder the full release of heat energy. Therefore, before the coal is used, the gangue needs to be sorted. In the existing technology, the gangue can be sorted by differences in density, physical properties (such as magnetism, electrical properties) or chemical properties of the gangue. Traditional sorting methods include gravity coal separation, jigging coal separation, wind coal separation and flotation coal separation. With the advancement of technology, more and more mines use automated intelligent visual sorting to sort gangue. When the visual sorting system identifies the gangue, when the gangue falls from the conveyor belt, the gangue can be accurately pushed to other locations to separate from the coal by high-speed gas jets or air hammers. However, there is a significant defect in pushing gangue by high-speed gas jets, that is, it is difficult to push large gangue to a suitable position.

[0003] For example, the patent with the authorization announcement number CN113000409B and the authorization announcement date September 10, 2024, is entitled "A patent for a high-precision intelligent sorting system and method for underground coal gangue grading", which includes a whole-line feeding device, a first belt conveyor device, a cooling and dust removal device, a heating and grading device, a second belt conveyor device, an infrared identification device, an intelligent sorting center, and a coal gangue separation device. After the mined raw coal is whole-lined, it is conveyed by a belt and successively undergoes cooling and dust removal, heating and grading, and then infrared identification is performed. Coal gangue is sorted under the action of the intelligent sorting center and the coal gangue separation device, and each of the above devices can be disassembled and reassembled, with little impact on the environment, simple installation and disassembly, high identification accuracy, and strong adaptability underground, which optimizes the coal preparation process and reduces the area occupied by the chamber. At the same time, the sorted gangue can be directly backfilled underground, which improves the efficiency of coal gangue sorting, effectively saves production costs, and reduces process waste.

[0004] The disadvantage of the prior art is that when the air hammer collides with larger gangue, it is easy to cause damage to the contact surface of the air hammer, affecting the subsequent separation and pushing effect of the gangue. Moreover, the collision between the air hammer and the gangue can easily cause the gangue to break and fall into the coal collection process. Summary of the invention

[0005] The purpose of the present invention is to provide an underground intelligent gangue sorting and filling mining method and device to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] An underground intelligent gangue sorting and filling mining device, comprising a transmission mechanism for conveying coal and gangue and an optical intelligent recognition unit, and also comprising a sorting mechanism located below the tail end of the transmission mechanism, the sorting mechanism comprising a plurality of push units arranged side by side, the push unit comprising a cylinder, a movable end of the cylinder being fixedly connected to a moving rod, and a push plate being mounted on the moving rod via a first rotating shaft and a torsion spring;

[0008] In the initial state, under the elastic action of the torsion spring, the pushing plate is in an inclined state.

[0009] In the above-mentioned underground intelligent gangue sorting and filling mining device, the transmission mechanism also includes a vibrating feeding unit, which is used to vibrate the coal stone and gangue and output them to the conveyor belt.

[0010] The above-mentioned intelligent underground gangue sorting and filling mining device, the sorting mechanism includes a support seat, the upper end of the support seat is fixed with a mounting frame, the cylinder is detachably mounted in the mounting frame, and the movable end of the cylinder slides through the inner wall of the mounting frame and extends outside the mounting frame.

[0011] In the above-mentioned intelligent underground gangue sorting and filling mining device, a plurality of limit plates are fixed on one side of the upper end of the support seat close to the movable end of the cylinder, and the moving rod is slidably arranged on the limit plates.

[0012] In the above-mentioned intelligent underground gangue sorting and filling mining device, the moving rod is a cylindrical structure.

[0013] In the above-mentioned intelligent underground gangue sorting and filling mining device, an elastic stop rod is fixed to one end of the limit plate close to the pushing plate, and the elastic stop rod and the pushing plate are arranged in a corresponding manner.

[0014] In the above-mentioned intelligent underground gangue sorting and filling mining device, a movable groove is opened at one end of the moving rod close to the pushing plate, and a connecting rod is connected to one end of the pushing plate close to the moving rod, and the connecting rod is rotatably connected in the movable groove through a first rotating shaft.

[0015] In the above-mentioned intelligent underground gangue sorting and filling mining device, the inclination angle of the pushing plate is 45 degrees.

[0016] In the above-mentioned intelligent underground gangue sorting and filling mining device, the spacing between the multiple pushing plates is no more than 0.5 cm.

[0017] An underground intelligent gangue sorting and filling mining method, based on the underground intelligent gangue sorting and filling mining device, comprises the following steps:

[0018] During the process of the transmission mechanism transporting coal and gangue, the gangue is identified by the optical intelligent recognition unit. When the gangue falls from the transmission mechanism, the corresponding pushing unit is started, so that the corresponding cylinder drives the pushing plate to move to the path where the gangue falls. When the gangue hits the pushing plate, the pushing plate rotates to a certain extent, and the impact of the pushing plate is buffered by the torsion spring, so that the gangue is pushed and sorted by the pushing plate.

[0019] In the above technical scheme, the present invention provides an underground intelligent gangue sorting and filling mining method and device, including a transmission mechanism, an optical intelligent recognition system and a sorting mechanism. Gangue is identified by the optical intelligent recognition system, and the gangue dropped from the transmission mechanism is sorted by the sorting mechanism. When the gangue drops from the transmission mechanism, the corresponding pushing unit is controlled to start, and the corresponding cylinder pushes the moving rod to move so that the pushing plate moves to the path where the gangue falls. When the gangue hits the pushing plate, the pushing plate rotates to a certain extent, and the impact of the pushing plate is buffered by the torsion spring. In this way, the service life of the pushing plate is extended, the gangue separation effect of the pushing plate is ensured, and the gangue can be prevented from breaking and falling into the coal collection area. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 A schematic diagram of the three-dimensional structure of an underground intelligent gangue sorting and filling mining device provided by an embodiment of the present invention.

[0022] Figure 2 A schematic diagram of the three-dimensional structure of a sorting mechanism provided in one embodiment of the present invention.

[0023] Figure 3 A cross-sectional view of a sorting mechanism provided in accordance with an embodiment of the present invention.

[0024] Figure 4 A cross-sectional view of a sorting mechanism provided in accordance with another embodiment of the present invention.

[0025] Figure 5 A partial cross-sectional view of a pushing unit provided in another embodiment of the present invention.

[0026] Figure 6 For the present invention Figure 5 A local enlarged view of point X.

[0027] Figure 7A partial three-dimensional structural schematic diagram of a pushing unit provided in another embodiment of the present invention.

[0028] Figure 8 A partial three-dimensional structural schematic diagram of a pushing unit provided in yet another embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 1. Transmission mechanism; 2. Optical intelligent recognition unit; 3. Sorting mechanism; 31. Push unit; 311. Cylinder; 312. Moving rod; 313. First rotating shaft; 314. Push plate; 315. Support seat; 316. Mounting frame; 317. Limiting plate; 32. Elastic stop rod; 33. Movable groove; 34. Connecting rod; 35. Limiting groove; 351. First groove; 352. Second groove; 353. Connecting block; 354. Sliding groove; 355. Driving shaft; 356. Compression spring; 357. Square groove; 358. Trapezoidal block; 359. Spring rod; 360. Pull rope; 361. Arc-shaped member; 362. Recessed area; 36. Second rotating shaft; 37. First rotating disk; 38. Second rotating disk; 39. Linking rod; 40. Limiting rod. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0032] like Figure 1-8 As shown, an underground intelligent gangue sorting and filling mining device provided by an embodiment of the present invention includes a transmission mechanism 1 for conveying coal and gangue and an optical intelligent recognition unit 2, and also includes a sorting mechanism 3 located below the tail end of the transmission mechanism 1, the sorting mechanism 3 includes a plurality of pushing units 31 arranged side by side, the pushing unit 31 includes a cylinder 311, the movable end of the cylinder 311 is fixedly connected to a moving rod 312, and a pushing plate 314 is installed on the moving rod 312 through a first rotating shaft 313 and a torsion spring; in the initial state, under the elastic action of the torsion spring, the pushing plate 314 is in an inclined state.

[0033] Specifically in this embodiment, the transmission mechanism 1 includes a mounting bracket, a roller, a transmission belt and a driving motor, so as to form a conveyor belt mechanism. The transmission mechanism 1 of the conveyor belt mechanism and the structure and working principle thereof are all prior art and will not be repeated here. Coal stone and gangue are transported from one side to the other side through the conveyor belt; the optical intelligent recognition unit 2 is installed in the middle of the belt conveyor unit. The optical intelligent recognition unit 2 is prior art, which is mainly used to identify gangue and detect the position of gangue on the conveyor belt, and the recognition result of the optical intelligent recognition unit 2 is used to call the corresponding push The sorting mechanism 3 is located below the position where the conveyor belt outputs the gangue, so as to facilitate the pushing and separation of the falling gangue. The plurality of pushing units 31 are evenly spaced and located on the same horizontal plane. The cylinder 311 is used to drive the moving rod 312 and the pushing plate 314 to move. The pushing plate 314 is rotatably mounted on the moving rod 312 through the first rotating shaft 313. The moving rod 312 is preferably a cylindrical structure. The torsion spring is connected between the first rotating shaft 313 and the moving rod 312. The torsion spring is used to maintain the first rotating shaft The relative rotation angle between the push plate 314 and the moving rod 312 is determined by the embodiment of the present invention. The push plate 314 is fixedly connected to the first rotating shaft 313, and the torsion spring can maintain the initial state of the push plate 314. The torsion spring configured on the rotating shaft is a prior art. The push plate 314 is a square plate structure. When the push plate 314 collides with the gangue, the push plate 314 rotates downward by a certain angle and works on the torsion spring, so that the impact of the gangue is buffered by the torsion spring. In addition, it also includes a coal stone collecting unit (not shown in the figure) and a gangue collecting unit. The coal stone collecting unit and the gangue collecting unit are arranged adjacent to each other, and the coal stone collecting unit is located at The conveyor belt is located directly below the tail of the transmission mechanism 1. In this way, the coal stone falling off the conveyor belt will directly fall onto the coal stone collecting unit. The preferred collecting device is still an active conveyor belt, which can transport the selected coal stone to other working positions. The gangue collecting unit is located at the side of the tail of the transmission mechanism 1, which is away from the coal stone collecting unit. From the transportation direction of the coal stone and gangue, the gangue collecting unit, the coal stone collecting unit and the sorting mechanism 3 are arranged in sequence, but the sorting mechanism 3 is located above the other two in the height direction. After the gangue is collected by the gangue collecting unit, it will be transported to the goaf for filling.Specifically, when the coal and gangue are transported on the conveyor belt, the gangue is identified by the optical intelligent recognition system and the time when the gangue falls from the conveyor belt is calculated. When the gangue falls from the transmission mechanism 1, the corresponding push unit 31 is controlled to start, and the corresponding cylinder 311 pushes the moving rod 312 to move so that the push plate 314 moves to the path where the gangue falls and remains stationary. When the gangue hits the push plate 314, the push plate 314 rotates downward to a certain extent (the movement process is defined as the push plate 314 is the first movement stroke). At this time, the gangue is hit and moves away from the push plate 314 and finally falls into the gangue collection unit. The impact of the push plate 314 is buffered by the torsion spring and the push plate 314 is driven to reset. In this way, the service life of the push plate 314 is extended, the gangue separation effect of the push plate 314 is ensured, and the gangue and the push plate 314 are prevented from falling into the coal collection unit after being hard hit and broken. ;

[0034] In another embodiment provided by the present invention, the inclination angle of the pushing plate 314 ranges from 30 degrees to 60 degrees, preferably 45 degrees, so as to ensure the contact area when the pushing plate 314 contacts the gangue; the plurality of pushing plates 314 are also arranged at even intervals, and the spacing between the plurality of pushing plates 314 is no more than 0.5 cm, which can ensure that smaller gangue will not be missed.

[0035] In another embodiment provided by the present invention, the transmission mechanism 1 also includes a vibrating unloading unit, which is located on a side of the conveyor belt away from the sorting mechanism 3. The vibrating unloading unit is a prior art and will not be described in detail. It is mainly used to vibrate the coal stone and gangue and output them to the conveyor belt, control the unloading speed of the coal stone and gangue, and at the same time make the coal stone and gangue spread flat on the conveyor belt.

[0036] In another embodiment provided by the present invention, the sorting mechanism 3 includes a support seat 315, and a mounting frame 316 is fixed to the upper end of the support seat 315. The cylinder 311 is detachably mounted in the mounting frame 316. The movable end of the cylinder 311 slides through the inner wall of the mounting frame 316 and extends outside the mounting frame 316. The mounting frame 316 provides a sealed working environment for the cylinder 311 to prevent coal stone or gangue from contacting the cylinder 311.

[0037] In another embodiment provided by the present invention, a plurality of limit plates 317 are fixed to one side of the upper end of the support seat 315 close to the movable end of the cylinder 311, and the moving rod 312 is slidably penetrated through the limit plate 317 to prevent the moving rod 312 from being directly connected to the movable end of the cylinder 311, thereby reducing the impact of the gangue hitting the push plate 314 on the cylinder 311; the moving rod 312 is a cylindrical structure, which is convenient for sliding.

[0038] In another embodiment provided by the present invention, it is obvious that when the push plate 314 collides with heavier gangue, the push plate 314 may be forced to rotate to a vertical state. If the push plate 314 rotates to a vertical position, the gangue cannot be pushed into the gangue collection unit, and the heavier gangue may fall into the coal stone collection unit. For this reason, further improvement is required. An elastic stop rod 32 is fixed to one end of the limit plate 317 close to the push plate 314. The elastic stop rod 32 is correspondingly arranged with the push plate 314. The elastic stop rod 32 is preferably The elastic telescopic rod is selected, and the elastic stop rod 32 has a compression limit. There is a certain distance between the movable end of the elastic stop rod 32 and the pushing plate 314, and the distance is defined as the free rotation distance; when the larger volume of gangue hits the pushing plate 314, the pushing plate 314 rotates to a certain extent and contacts the elastic stop rod 32. At this time, the pushing plate 314 continues to squeeze the elastic stop rod 32 (the movement process is defined as the second movement stroke of the pushing plate 314), and the elastic stop rod 32 performs secondary buffering. When the elastic stop rod 32 is compressed to When the push plate 314 reaches the elastic limit, it cannot continue to rotate. At this time, the push plate 314 reaches the limit deflection angle (this position is defined as the push plate 314 is the limit rotation position), and the push plate 314 is kept in an inclined state by the elastic stop rod 32. In this way, the push plate 314 is prevented from becoming vertical after encountering a heavier gangue impact, and the heavier gangue can be prevented from falling into the coal collection unit. In summary, the push plate 314 has two movement strokes. In the first movement stroke, the push plate 314 is in an initial inclined state and performs normal sorting work. The push plate 314 is rotated to a certain extent when the gangue hits the push plate 314. During the second movement stroke, the gangue hits the push plate 314, causing the push plate 314 to rotate excessively and contact the elastic stop rod 32. The elastic stop rod 32 performs secondary buffering on the impact, and the push plate 314 continues to move so that the elastic stop rod 32 is compressed to the elastic limit. At this time, the push plate 314 reaches the extreme rotation position, and the main function of the elastic stop rod 32 is to maintain the tilt state of the push plate 314 to prevent heavier gangue from falling into the coal stone collection unit.

[0039] In another embodiment provided by the present invention, if the middle part of the pushing plate 314 is directly rotatably connected to the moving rod 312, when the gangue collides with the middle part of the pushing plate 314, it may be impossible to force the pushing plate 314 to rotate, and the torsion spring cannot be used for buffering. For this reason, a further improvement is proposed. The moving rod 312 is provided with a movable groove 33 at one end close to the pushing plate 314, and the pushing plate 314 is connected to a connecting rod 34 at one end close to the moving rod 312. The connecting rod 34 is rotatably connected in the movable groove 33 through a first rotating shaft 313. At this time, the first rotating shaft 313 is still connected to the moving rod 312 through a torsion spring. In this way, the installation position of the pushing plate 314 is further refined. No matter where the gangue collides with the pushing plate 314, the pushing plate 314 and the connecting rod 34 can be forced to rotate, thereby avoiding the gangue from being unable to use the torsion spring for buffering when it collides with the middle position of the pushing plate 314.

[0040] Furthermore, even after the design of the above technical solution, the push plate 314 is still likely to be damaged, and there are multiple push plates 314 arranged side by side, and the space between adjacent push plates 314 is small. The conventional disassembly and replacement method is cumbersome and the working space is narrow, which is difficult to operate. Therefore, this embodiment provides a further solution. It can be seen from the above embodiment that when the gangue hits the push plate 314, its impact force will cause the push plate 314 to rotate downward, and there is no situation where the push plate 314 rotates upward. Even if the torsion spring drives the push plate 314 to reset, the push plate 314 will not rotate excessively upward. Therefore, this embodiment aims to design a method of rotating the push plate 314 upward and A solution for quickly disassembling itself; in this embodiment, a limiting groove 35 is provided at one end of the connecting rod 34 close to the moving rod 312, and the limiting groove 35 is used to install the first rotating shaft 313. The end of the limiting groove 35 away from the moving rod 312 is an arc surface, and the end of the limiting groove 35 away from the moving rod 312 is provided with an installation groove, and the installation groove is T-shaped and divided into a first groove 351 and a second groove 352. The length of the first groove 351 is greater than that of the second groove 352. In the initial state, the first groove 351 is horizontally arranged and the second groove 352 is vertically arranged. The first groove 351 is connected to the end of the limiting groove 35 away from the moving rod 312, and the second groove 352 is connected to the first rotating shaft 313. The first rotating shaft 313 is connected to the end of the first slot 351 away from the moving rod 312, and a connecting block 353 is formed on the first rotating shaft 313. The connecting block 353 is a square structure. The connecting block 353 is slidably inserted in the first slot 351. A sliding slot 354 is provided in the connecting block 353. A driving shaft 355 is also slidably penetrated on the first rotating shaft 313. The driving shaft 355 slides and extends into the sliding slot 354. A compression spring 356 is connected between the driving shaft 355 and the sliding slot 354. In the initial state, the compression spring 356 is in a compressed state. A square slot 357 is provided at the end of the connecting block 353 away from the moving rod 312. A trapezoidal spring 356 is slidably installed in the square slot 357. Block 358, in the initial state, the end of the trapezoidal block 358 away from the moving rod 312 is an inclined surface, and the end of the trapezoidal block 358 close to the moving rod 312 is a vertical surface, so that the trapezoidal block 358 is clamped in the second groove 352, and then the first rotating shaft 313 is connected to the connecting rod 34, and the end of the trapezoidal block 358 close to the sliding groove 354 is slidably penetrated by a spring rod 359, in the initial state, the elastic force exerted on the compression spring 356 is greater than the elastic force of the spring rod 359, and the end of the spring rod 359 close to the sliding groove 354 is slidably penetrated into the sliding groove 354, and a pull rope 360 ​​is connected between the spring rod 359 and the driving shaft 355, and the pull rope 360 ​​is not elastic;In addition, an arc-shaped member 361 is fixed in the limiting groove 35. The arc-shaped member 361 is an arc-shaped block structure. The center of the arc-shaped member 361 coincides with the center of the first rotating shaft 313. In the initial state, under the elastic action of the compression spring 356, the driving shaft 355 is attached to the surface of the arc-shaped member 361. A recessed area 362 is formed on the lower side of the arc-shaped member 361. When the driving shaft 355 moves to contact the recessed area 362 (that is, when the push plate 314 rotates upward), under the elastic action of the compression spring 356, the driving shaft 355 pops outward (this movement process is defined as the push plate 314 is the third movement stroke). ;

[0041] When the push plate 314 needs to be removed for replacement, the sorting mechanism 3 is stopped, the push plate 314 that needs to be removed is determined, and the push plate 314 is pushed to rotate upward. At this time, the connecting rod 34 also rotates upward and drives the connecting block 353 and the driving shaft 355 to rotate synchronously. The end of the driving shaft 355 that is attached to the arc-shaped member 361 moves downward accordingly and gradually contacts the recessed area 362. Under the elastic action of the compression spring 356, the driving shaft 355 pops outward. At this time, the pull rope moves outward accordingly and pulls the spring rod 359 to move in the direction of the sliding groove 354. In this way, the trapezoidal block 358 also enters the square groove 357. When the push plate 314 rotates upward by a certain angle, the trapezoidal block 358 completely enters the square groove 357. At this time, the trapezoidal block 358 loses the effect of clamping, so that the connecting rod 34 can be connected with the first rotating shaft 3 13 is separated, and then the pushing plate 314 is pulled outward, so that the pushing plate 314 is quickly separated from the first rotating shaft 313; when the pushing plate 314 needs to be installed, when the first rotating shaft 313 is in the initial state, the installation groove is aligned with the first rotating shaft 313, and then the pushing plate 314 is pushed to move so that the connecting block 353 is inserted into the first groove 351. In this process, the inner wall of the first groove 351 squeezes the inclined surface of the trapezoidal block 358 so that the trapezoidal block 358 moves inward and compresses the spring 356 rod, and the connecting block 353 continues to move. When the connecting block 353 is fully inserted into the first groove 351, under the elastic action of the spring rod 359, the trapezoidal block 358 pops outward and snaps into the second groove 352. In this way, the snap connection between the first rotating shaft 313 and the connecting block 353 is completed, so that the pushing plate 314 is quickly rotated and installed together with the first rotating shaft 313. In summary, during the third movement stroke of the pushing plate 314, the pushing plate 314 can be quickly disassembled by rotating the pushing plate 314 upward, avoiding the problem of multiple pushing plates 314 being arranged side by side and the adjacent space being small, which is not convenient for quick disassembly and installation.

[0042] Obviously, the above-mentioned pushing plate 314 has three movement strokes. In the first movement stroke, the pushing plate 314 can normally sort and buffer the gangue. In the second movement stroke, the movement of the pushing plate 314 is secondarily buffered by the elastic stop rod 32. When the elastic stop rod 32 is compressed to the elastic limit, the pushing plate 314 reaches the extreme rotation position. In the third movement stroke, the pushing plate 314 itself can be quickly disassembled by rotating the pushing plate 314 upward.

[0043] Furthermore, when the pushing plate 314 collides with the gangue, since the pushing plate 314 needs to rotate to relieve the impact force, the distance that the gangue is pushed is short, and it may be difficult to move the gangue to the gangue collecting unit. For this reason, the present embodiment provides a further technical solution. It should be particularly noted that, unlike the above-mentioned embodiment, the connecting rod 34 is rotatably connected to the upper side of the pushing plate 314 through the second rotating shaft 36. In addition, a first rotating disk 37 is fixed to one end of the first rotating shaft 313 outside the moving rod 312. A second rotating disk 38 is fixed on the second rotating shaft 36. In the initial state, a linkage rod 39 is detachably rotatably installed on the upper side of the first rotating disk 37. The other end of the linkage rod 39 is detachably rotatably connected to the lower side of the second rotating disk 38. An L-shaped limiting rod 40 is also fixed on the connecting rod 34. One end of the limiting rod 40 is attached to the pushing plate 314. The rotation direction of the pushing plate 314 is limited by the limiting rod 40. When the pushing plate 314 collides with the gangue, the pushing plate 314 tends to rotate downward. However, at this time, the downward rotation of the push plate 314 is limited by the limit rod 40. Therefore, the push plate 314 and the connecting rod 34 rotate downward synchronously. At the same time, the rotation of the first shaft 313 drives the first rotating disk 37 to rotate. The rotation of the first rotating disk 37 drives the linkage rod 39 to move, and then the second rotating shaft 36 also rotates accordingly. The rotation direction of the first rotating shaft 313 is opposite to that of the second rotating shaft 36. When the push plate 314 and the connecting rod 34 move downward synchronously, the second rotating shaft 36 drives the push plate 314 swings outward with the second rotating shaft 36 as the rotation center, so that the gangue on the pushing plate 314 is pushed outward; specifically, the movement of the pushing plate 314 is a combination of rotations at two positions. The rotation of the first rotating shaft 313 causes the pushing plate 314 to rotate downward as a whole, and the rotation of the second rotating shaft 36 causes the pushing plate 314 to swing outward with the second rotating shaft 36 as the rotation center. In this way, the pushing plate 314 can passively swing and push the gangue outward while having a buffering function, thereby ensuring the pushing distance of the gangue.

[0044] In another embodiment provided by the present invention, an underground intelligent gangue sorting and filling mining method is provided, which specifically comprises the following steps:

[0045] During the process of the transmission mechanism 1 transporting coal and gangue, the gangue is identified by the optical intelligent recognition unit 2. When the gangue falls from the transmission mechanism 1, the corresponding pushing unit 31 is started, so that the corresponding cylinder 311 drives the pushing plate 314 to move to the path where the gangue falls. When the gangue hits the pushing plate 314, the pushing plate 314 rotates to a certain extent, and the impact of the pushing plate 314 is buffered by the torsion spring. The gangue is pushed and sorted by the pushing plate 314. At this time, the gangue is hit to move away from the pushing plate 314 and finally falls into the gangue collecting unit. In this way, the service life of the pushing plate 314 is extended and the gangue separation effect of the pushing plate 314 is ensured. When the sorting is completed, the gangue in the gangue collecting unit is filled into the goaf.

[0046] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An underground intelligent gangue sorting and filling mining device, comprising a transmission mechanism for conveying coal and gangue and an optical intelligent recognition unit, and also comprising a sorting mechanism located below the tail end of the transmission mechanism, characterized in that: The sorting mechanism comprises a plurality of push units arranged side by side, wherein the push unit comprises a cylinder, a movable end of the cylinder is fixedly connected to a moving rod, and a push plate is installed on the moving rod via a first rotating shaft and a torsion spring; In the initial state, under the elastic action of the torsion spring, the pushing plate is in an inclined state.

2. The underground intelligent gangue sorting and filling mining device according to claim 1 is characterized in that: The transmission mechanism also includes a vibration unloading unit, which is used to vibrate the coal stone and gangue and output them to the conveyor belt.

3. The underground intelligent gangue sorting and filling mining device according to claim 1 is characterized in that: The sorting mechanism comprises a support seat, a mounting frame is fixed on the upper end of the support seat, the cylinder is detachably mounted in the mounting frame, and the movable end of the cylinder slides through the inner wall of the mounting frame and extends outside the mounting frame.

4. The underground intelligent gangue sorting and filling mining device according to claim 3 is characterized in that: A plurality of limiting plates are fixed on one side of the upper end of the support seat close to the movable end of the cylinder, and the moving rod is slidably arranged on the limiting plates.

5. The underground intelligent gangue sorting and filling mining device according to claim 4 is characterized in that: The moving rod is a cylindrical structure.

6. The underground intelligent gangue sorting and filling mining device according to claim 5 is characterized in that: An elastic stop rod is fixed to one end of the limit plate close to the pushing plate, and the elastic stop rod is arranged correspondingly to the pushing plate.

7. The underground intelligent gangue sorting and filling mining device according to claim 1 is characterized in that: An active groove is formed at one end of the moving rod close to the pushing plate, and a connecting rod is connected to one end of the pushing plate close to the moving rod. The connecting rod is rotatably connected in the active groove via a first rotating shaft.

8. The underground intelligent gangue sorting and filling mining device according to claim 1 is characterized in that: The inclination angle of the pushing plate is 45 degrees.

9. The underground intelligent gangue sorting and filling mining device according to claim 7 is characterized in that: The spacing between the plurality of pushing plates is no greater than 0.5 cm.

10. An underground intelligent gangue sorting and filling mining method, characterized in that: The underground intelligent gangue sorting and filling mining device according to any one of claims 1 to 9 comprises the following steps: During the process of the transmission mechanism transporting coal and gangue, the gangue is identified by the optical intelligent recognition unit. When the gangue falls from the transmission mechanism, the corresponding pushing unit is started, so that the corresponding cylinder drives the pushing plate to move to the path where the gangue falls. When the gangue hits the pushing plate, the pushing plate rotates to a certain extent, and the impact of the pushing plate is buffered by the torsion spring, so that the gangue is pushed and sorted by the pushing plate.

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