Intelligent coal gangue sorting robot

Abstract

The invention provides an intelligent coal and gangue sorting robot. The intelligent coal and gangue sorting robot comprises a robot body, the top of the robot body is provided with a crushing assembly, a sorting assembly and a throwing assembly, and the bottom of the robot body is provided with a driving assembly; the driving assembly comprises an action crawler belt and a hydraulic driving structure electrically connected with the action crawler belt; a recognition assembly is arranged at the advancing end of the robot body, and a safety assembly and a control assembly are arranged in the robot body. The crushing assembly, the sorting assembly, the feeding assembly, the driving assembly, the recognition assembly and the safety assembly are connected with the control assembly in a wired or wireless mode. The robot body can integrate the functions of target crushing, intelligent recognition, accurate positioning, rapid sorting and classified feeding, the problems that in the prior art, the sorting precision is low, adaptability is poor, and efficiency is insufficient are solved, efficient separation of coal gangue is achieved, the coal quality is improved, and the production cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine sorting and relates to an intelligent coal gangue sorting robot. Background Art

[0002] Coal, my country's primary energy resource, produces large quantities of gangue during its mining and washing processes. Gangue is low-calorific value ore mixed in with coal. Its inclusion reduces coal combustion efficiency, increases transportation costs, and affects the quality of subsequent processing. Traditional gangue sorting relies primarily on manual picking or mechanical screening, but these methods suffer from low sorting efficiency, high error rates, and high labor intensity.

[0003] Manual sorting relies on workers' experience and judgment, leading to fatigue from long hours. Sorting accuracy is difficult to guarantee, and in harsh environments with high dust and noise levels, workers face high health risks. Furthermore, manual sorting is limited in speed, making it difficult to meet the efficient production needs of modern coal mines. While mechanical screening technology has improved sorting efficiency to a certain extent, it can only perform coarse screening based on differences in particle size or density between coal and gangue, and cannot accurately identify the complex composition of gangue. This results in low coal recovery rates and a high rate of gangue inclusion.

[0004] In recent years, intelligent sorting technologies based on image recognition and machine learning have been gradually applied to the mining sorting field. For example, some sorting equipment uses X-ray or near-infrared spectroscopy to identify gangue. However, due to the complex composition of gangue, traditional sensing technologies are susceptible to environmental interference, resulting in unstable recognition accuracy. Furthermore, the positioning accuracy of the robotic arms of existing sorting equipment is insufficient, making it difficult to adapt to the dynamic sorting requirements of high-speed conveyor belts, resulting in frequent missed or incorrect sorting.

[0005] In the crushing process, traditional crushers typically use fixed hammer or extrusion crushing, which cannot be targeted according to the hardness differences of coal gangue. This results in some gangue not being fully crushed and mixed into the coal, or coal being over-crushed, resulting in resource waste. Furthermore, existing sorting systems lack intelligent decision-making capabilities and are unable to optimize sorting strategies based on real-time sorting data, making it difficult to further improve sorting efficiency.

[0006] Therefore, it is urgent to design an intelligent coal gangue sorting robot to overcome the shortcomings of existing technologies and meet practical application needs. Summary of the Invention

[0007] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an intelligent coal gangue sorting robot. In the present invention, the robot body can integrate the functions of target crushing, intelligent identification, precise positioning, rapid sorting and classified delivery, solving the problems of low sorting accuracy, poor adaptability and insufficient efficiency of the existing technology, realizing efficient separation of coal gangue, improving coal quality and reducing production costs.

[0008] To achieve this object, the present invention adopts the following technical solutions:

[0009] The present invention provides a coal gangue intelligent sorting robot, which includes a robot body, a crushing component, a sorting component, and a delivery component are arranged on the top of the robot body, and a driving component is arranged on the bottom;

[0010] The driving assembly includes a moving crawler and a hydraulic driving structure electrically connected to the moving crawler;

[0011] The forward end of the robot body is provided with an identification component, and the robot body is provided with a safety component and a control component;

[0012] The crushing component, the sorting component, the delivery component, the driving component, the identification component and the safety component are respectively connected to the control component via wired or wireless connections.

[0013] In the present invention, the robot body can integrate the functions of target crushing, intelligent identification, precise positioning, rapid sorting and classified delivery, solving the problems of low sorting accuracy, poor adaptability and insufficient efficiency in the existing technology, realizing efficient separation of coal gangue, improving coal quality and reducing production costs.

[0014] It should be noted that the control component in the present invention can have a built-in high-performance processor and autonomous navigation algorithm, support SLAM (Simultaneous Localization and Mapping) technology, realize autonomous navigation in a signal-free environment, be equipped with a path planning algorithm, dynamically plan the optimal transportation path according to task requirements, support multi-task scheduling, and realize on-time and on-demand transportation of materials; adopt a hybrid wireless and wired communication method, support real-time data transmission and remote control, be equipped with a data caching function, temporarily store data when the network is interrupted, and automatically upload it after recovery, support remote intervention function, and the operator can view the robot status in real time through the monitoring platform and perform operations.

[0015] It should be noted that the present invention adopts a moving crawler as the walking structure of the robot body, which can make the walking of the entire robot more stable, and can adapt to complex terrains, thereby achieving efficient and safe crushing operations.

[0016] It should be noted that the hydraulic drive structure in the present invention is a system that primarily utilizes liquid (usually hydraulic oil) to transmit power and control, and is widely used in engineering machinery, aerospace, industrial automation, and other fields. Its core components include a power element, an actuator, a control element, auxiliary elements, and a working medium. The power element can be a hydraulic pump, the actuator can be a hydraulic cylinder, the control element can be a directional control valve, the auxiliary elements can be a fuel tank, a filter, a cooler, etc., and the working medium can be hydraulic oil or a water-based hydraulic fluid.

[0017] As a preferred technical solution of the present invention, the crushing component is a hydraulic breaker hammer or a rotary cutting head.

[0018] It should be noted that the hydraulic breaker and rotary cutting head in the present invention can adopt a diamond structure to achieve greater crushing force, and there is no particular limitation on their specific models. Those skilled in the art can adapt them according to actual conditions. The mechanical arm structure can also be equipped with a force feedback system to monitor the degree of material crushing and cutting.

[0019] As a preferred technical solution of the present invention, the sorting component includes a mechanical arm structure, one end of the mechanical arm structure is movably connected to the top of the robot body, and the other end is bolted to the hydraulic breaker or the rotary cutting head.

[0020] As a preferred technical solution of the present invention, the robotic arm structure includes an arm body and a rotating base, one end of the arm body is fixedly connected to the rotating base, and the other end is bolted to the hydraulic breaker or the rotating cutting head, and the rotating base is clamped on the top of the robot body.

[0021] Furthermore, the arm body is electrically connected to a servo motor, and the servo motor is used to drive the arm body to operate.

[0022] Furthermore, the arm body is a six-axis collaborative robotic arm.

[0023] It should be noted that, in the present invention, a hydraulic locking assembly may be provided at the connection between the arm body and the hydraulic breaker, and the hydraulic locking assembly is used to ensure the stability of the crushing process of the hydraulic breaker; or a hydraulic locking assembly may be provided at the connection between the arm body and the rotary cutting head, and the hydraulic locking assembly is used to ensure the stability of the cutting process of the rotary cutting head, wherein the hydraulic locking assembly may be a hydraulic locking device, which can ensure the stability of the crushing or cutting process.

[0024] It should be noted that the six-axis collaborative robot arm in the present invention has significant advantages over other types of robots (such as four-axis SCARA, Delta parallel arm, traditional industrial six-axis robot arm) in the intelligent sorting scenario of coal gangue. Its omnidirectional rotating joint can adapt to any angle of the conveyor belt for grasping, complex posture adjustment, adjustable gripper angle, cope with the irregular shape of coal gangue, and adjustable contact pressure (10-50N) to avoid over-pressure crushing of coal.

[0025] As a preferred technical solution of the present invention, the delivery component includes a first chute and a second chute arranged in parallel on the top of the robot body, and the first chute and the second chute are used for delivering coal and coal gangue respectively.

[0026] Furthermore, the outlet end of the first chute and the outlet end of the second chute are externally connected to the first collecting tank and the second collecting tank respectively through pipelines.

[0027] It should be noted that the first chute in the present invention adopts an inclined stainless steel slide with an inclination of 30° to 45° to ensure that the coal slides naturally by gravity. The inner wall is covered with a wear-resistant polyethylene lining to reduce the friction loss of coal. A buffer baffle is provided at the outlet to prevent coal from splashing and is connected to the first collecting trough; the second chute adopts a vertical drop pipe + spiral guide design to accelerate the fall of gangue and avoid blockage. A vibrating screen (amplitude 2 to 5 mm) is configured at the bottom to separate the residual coal powder. The outlet is connected to the second collection trough and then enters the gangue crusher or waste yard to realize automated processing. Among them, a pneumatic flap valve (response time <0.2 seconds) can also be set at the entrance of the first chute and the second chute, and the channel is dynamically switched by the control component according to the recognition result. A soft curtain sealing cover can also be installed on the top, and a negative pressure dust suction port is integrated on the side wall to reduce dust diffusion.

[0028] As a preferred technical solution of the present invention, a GPS locator is provided on the moving track, and the GPS locator is used for precise movement and positioning of the robot.

[0029] It should be noted that the GPS locator in the present invention may include hardware, software and related auxiliary components, among which the hardware components may include a GPS antenna, a GPS receiver chip, an RF front-end (RF Front-End), an inertial measurement unit (IMU) and an external memory; the software components may include firmware / driver, positioning algorithm, auxiliary positioning system and related data protocols; the enhanced system components may include differential GPS (DGPS), RTK (real-time kinematic positioning) and GNSS multi-mode support; related auxiliary components may also include geomagnetic sensors, barometers and network positioning, etc.

[0030] As a preferred technical solution of the present invention, the recognition component includes a camera and an infrared sensor, the camera is installed at the forward end of the robot body, and the infrared sensor is arranged on either side close to the camera.

[0031] It should be noted that the recognition component in the present invention is equipped with a camera and an infrared sensor, which can realize automatic recognition and positioning of materials. It adopts a deep learning algorithm to support the classification and recognition of various materials, and is equipped with a 3D vision system to realize accurate positioning and crushing of materials.

[0032] As a preferred technical solution of the present invention, the safety component includes an emergency braking system, which is connected to the drive component via a hydraulic device, and the emergency braking system is used to ensure the safe operation of the robot body.

[0033] It should be noted that the emergency braking system in this invention is a safety device that is automatically triggered in the event of conventional braking failure or sudden danger. It is widely used in the automotive, rail transit, aviation, industrial machinery and other fields. It mainly includes a sensing and detection unit, a control unit, and an execution unit. The sensing and detection unit may include a radar / laser sensor, a visual camera, an inertial measurement unit, and a wheel speed sensor. The control unit may include an electronic control unit and a redundant control module. The execution unit may include a hydraulic braking system, electric motor braking (regenerative braking), and a mechanical backup brake.

[0034] As a preferred technical solution of the present invention, the robot body is a steel alloy body, and a shock-absorbing layer is provided on the inner wall of the robot body.

[0035] As a preferred technical solution of the present invention, the shock-absorbing layer is a rubber layer, and the thickness of the shock-absorbing layer is 12mm to 14mm, for example, it can be 12mm, 12.5mm, 13mm, 13.5mm, 14mm, etc., but is not limited to the listed values, and other unlisted values ​​within this numerical range are also applicable.

[0036] It should be noted that the present invention adopts a shock-absorbing layer, limits the thickness of the shock-absorbing layer, and selects steel alloy materials, which can be explosion-proof and dust-proof, greatly reduce shock, ensure the stable operation of the robot, and adapt to the harsh environment of the coal mine in all directions.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] In the present invention, the robot body can integrate the functions of target crushing, intelligent identification, precise positioning, rapid sorting and classified delivery, solving the problems of low sorting accuracy, poor adaptability and insufficient efficiency in the existing technology, realizing efficient separation of coal gangue, improving coal quality and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic structural diagram of a coal gangue intelligent sorting robot provided in one embodiment of the present invention;

[0040] Among them, 1-robot body; 2-arm body; 3-crushing component; 4-safety component; 5-control component; 6-infrared sensor; 7-camera; 8-first chute; 9-second chute; 10-movement track. DETAILED DESCRIPTION

[0041] It should be understood that, in the description of the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0042] It should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] Those skilled in the art should understand that the present invention must include necessary pipelines, conventional valves and general pump equipment for realizing a complete process, but the above content does not belong to the main invention point of the present invention. Those skilled in the art can add layouts on their own based on the process flow and equipment structure selection, and the present invention does not make special requirements and specific limitations on this.

[0044] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0045] In a specific embodiment, the present invention provides a coal gangue intelligent sorting robot, such as Figure 1 As shown, the coal gangue intelligent sorting robot includes a robot body 1, the top of the robot body 1 is provided with a crushing component 3, a sorting component and a delivery component, and the bottom is provided with a driving component;

[0046] The driving assembly includes a moving track 10 and a hydraulic driving structure electrically connected to the moving track 10;

[0047] The forward end of the robot body 1 is provided with an identification component, and a safety component 4 and a control component 5 are provided inside the robot body 1;

[0048] The crushing component 3, the sorting component, the delivery component, the driving component, the identification component and all components are connected to the control component 5 via wired or wireless connections respectively.

[0049] It should be noted that the control component 5 in the present invention can have a built-in high-performance processor and autonomous navigation algorithm, support SLAM (Simultaneous Localization and Mapping) technology, realize autonomous navigation in a signal-free environment, be equipped with a path planning algorithm, dynamically plan the optimal transportation path according to task requirements, support multi-task scheduling, and realize on-time and on-demand transportation of materials; adopt a hybrid wireless and wired communication method, support real-time data transmission and remote control, be equipped with a data caching function, temporarily store data when the network is interrupted, and automatically upload it after recovery, support remote intervention function, and the operator can view the robot status in real time through the monitoring platform and perform operations.

[0050] It should be noted that the present invention uses the moving crawler 10 as the walking structure of the robot body 1, which can make the walking of the entire robot more stable, and can adapt to complex terrains to achieve efficient and safe crushing operations.

[0051] It should be noted that the hydraulic drive structure in the present invention is a system that primarily utilizes liquid (usually hydraulic oil) to transmit power and control, and is widely used in engineering machinery, aerospace, industrial automation, and other fields. Its core components include a power element, an actuator, a control element, auxiliary elements, and a working medium. The power element can be a hydraulic pump, the actuator can be a hydraulic cylinder, the control element can be a directional control valve, the auxiliary elements can be a fuel tank, a filter, a cooler, etc., and the working medium can be hydraulic oil or a water-based hydraulic fluid.

[0052] In one embodiment, the breaking assembly 3 is a hydraulic breaker or a rotary cutting head.

[0053] It should be noted that the hydraulic breaker and rotary cutting head in the present invention can adopt a diamond structure to achieve greater crushing force, and there is no particular limitation on their specific models. Those skilled in the art can adapt them according to actual conditions. The mechanical arm structure can also be equipped with a force feedback system to monitor the degree of material crushing and cutting.

[0054] In one embodiment, the sorting assembly includes a robotic arm structure, one end of which is movably connected to the top of the robot body 1, and the other end of which is bolted to a hydraulic breaker or a rotary cutting head.

[0055] In one embodiment, the robotic arm structure includes an arm body 2 and a rotating base. One end of the arm body 2 is fixedly connected to the rotating base, and the other end is bolted to a hydraulic breaker or a rotating cutting head. The rotating base is clamped on the top of the robot body 1.

[0056] In one embodiment, the arm body 2 is electrically connected to a servo motor, and the servo motor is used to drive the arm body 2 to operate.

[0057] In one embodiment, the arm body 2 is a six-axis collaborative robotic arm.

[0058] It should be noted that, in the present invention, a hydraulic locking assembly may be provided at the connection between the arm body 2 and the hydraulic breaker, and the hydraulic locking assembly is used to ensure the stability of the crushing process of the hydraulic breaker; or a hydraulic locking assembly may be provided at the connection between the arm body 2 and the rotary cutting head, and the hydraulic locking assembly is used to ensure the stability of the cutting process of the rotary cutting head, wherein the hydraulic locking assembly may be a hydraulic locking device, which can ensure the stability of the crushing or cutting process.

[0059] In one embodiment, the delivery assembly includes a first chute 8 and a second chute 9 arranged in parallel on the top of the robot body 1, and the first chute 8 and the second chute 9 are used to deliver coal and coal gangue respectively.

[0060] In one embodiment, the outlet end of the first chute 8 and the outlet end of the second chute 9 are externally connected to the first collecting tank and the second collecting tank through pipelines, respectively.

[0061] It should be noted that the first chute 8 in the present invention adopts an inclined stainless steel slide with an inclination of 30° to 45° to ensure that the coal slides naturally by gravity. The inner wall is covered with a wear-resistant polyethylene lining to reduce the friction loss of the coal. A buffer baffle is provided at the outlet to prevent the coal from splashing and is connected to the first collection trough; the second chute 9 adopts a vertical drop pipe + spiral guide design to accelerate the fall of gangue and avoid blockage. A vibrating screen (amplitude 2 to 5 mm) is configured at the bottom to separate the residual coal powder. The outlet is connected to the second collection trough and then enters the gangue crusher or waste yard to realize automated processing. Among them, a pneumatic flap valve (response time <0.2 seconds) can also be provided at the entrance of the first chute 8 and the second chute 9, and the channel is dynamically switched by the control component 5 according to the recognition result. A soft curtain sealing cover can also be installed on the top, and a negative pressure dust suction port is integrated on the side wall to reduce dust diffusion. The first collection trough and the second collection trough can be bolted to the end of the robot body 1 facing away from the forward end.

[0062] In one embodiment, a GPS locator is provided on the moving track 10, and the GPS locator is used for precise movement and positioning of the robot.

[0063] It should be noted that the GPS locator in the present invention may include hardware, software and related auxiliary components, among which the hardware components may include a GPS antenna, a GPS receiver chip, an RF front-end (RF Front-End), an inertial measurement unit (IMU) and an external memory; the software components may include firmware / driver, positioning algorithm, auxiliary positioning system and related data protocols; the enhanced system components may include differential GPS (DGPS), RTK (real-time kinematic positioning) and GNSS multi-mode support; related auxiliary components may also include geomagnetic sensors, barometers and network positioning, etc.

[0064] In one embodiment, the recognition component includes a camera 7 and an infrared sensor 6 . The camera 7 is installed at the forward end of the robot body 1 , and the infrared sensor 6 is arranged on either side close to the camera 7 .

[0065] It should be noted that the recognition component in the present invention is equipped with a camera 7 and an infrared sensor 6, which can realize automatic recognition and positioning of materials, adopt a deep learning algorithm, support the classification and recognition of various materials, and is equipped with a 3D vision system to realize accurate positioning and crushing of materials.

[0066] In one embodiment, the safety component 4 includes an emergency braking system, which is connected to the driving component via a hydraulic device. The emergency braking system is used to ensure the safe operation of the robot body 1.

[0067] It should be noted that the emergency braking system in the present invention is a safety device that is automatically triggered in the event of conventional braking failure or sudden danger, and is widely used in the automotive, rail transportation, aviation, industrial machinery and other fields. It mainly includes a sensing and detection unit, a control unit, and an execution unit. The sensing and detection unit may include a radar / laser sensor, a visual camera 7, an inertial measurement unit, and a wheel speed sensor. The control unit may include an electronic control unit and a redundant control module. The execution unit may include a hydraulic braking system, electric motor braking (regenerative braking), and mechanical backup braking.

[0068] In one embodiment, the robot body 1 is made of a steel alloy, and a shock-absorbing layer is provided on the inner wall of the robot body 1 .

[0069] In one embodiment, the shock-absorbing layer is a rubber layer, and the thickness of the shock-absorbing layer is 12 mm to 14 mm, for example, it can be 12 mm, 12.5 mm, 13 mm, 13.5 mm, 14 mm, etc., but is not limited to the listed values. Other unlisted values ​​within this numerical range are also applicable.

[0070] It should be noted that the present invention adopts a shock-absorbing layer, limits the thickness of the shock-absorbing layer, and selects steel alloy materials, which can be explosion-proof and dust-proof, greatly reduce shock, ensure the stable operation of the robot, and adapt to the harsh environment of the coal mine in all directions.

[0071] Example 1

[0072] This embodiment provides a coal gangue intelligent sorting robot, wherein:

[0073] The intelligent coal gangue sorting robot includes a robot body 1. A crushing component 3, a sorting component and a delivery component are arranged on the top of the robot body 1, and a driving component is arranged on the bottom; the driving component includes a moving track 10 and a hydraulic driving structure electrically connected to the moving track 10; an identification component is arranged at the forward end of the robot body 1, and a safety component 4 and a control component 5 are arranged inside the robot body 1; the crushing component 3, the sorting component, the delivery component, the driving component, the identification component and all the components are respectively connected to the control component 5 through a wireless connection.

[0074] The crushing assembly 3 is a hydraulic breaker. The sorting assembly includes a robotic arm structure, one end of which is movably connected to the top of the robot body 1 and the other end is bolted to the hydraulic breaker. The robotic arm structure consists of an arm body 2 and a rotating base. One end of the arm body 2 is fixedly connected to the rotating base and the other end is bolted to the hydraulic breaker. The rotating base is clamped to the top of the robot body 1. The arm body 2 is electrically connected to a servo motor, which drives the arm body 2. The arm body 2 is a six-axis collaborative robotic arm.

[0075] The delivery component includes a first chute 8 and a second chute 9 arranged in parallel on the top of the robot body 1. The first chute 8 and the second chute 9 are used to deliver coal and coal gangue respectively. The outlet end of the first chute 8 and the outlet end of the second chute 9 are connected to the first collection tank and the second collection tank through pipelines respectively.

[0076] The moving crawler 10 is provided with a GPS locator, which is used for precise movement and positioning of the robot.

[0077] The recognition component includes a camera 7 and an infrared sensor 6. The camera 7 is installed at the forward end of the robot body 1, and the infrared sensor 6 is set on either side close to the camera 7.

[0078] The safety component 4 includes an emergency braking system, which is connected to the driving component via a hydraulic device. The emergency braking system is used to ensure the safe operation of the robot body 1.

[0079] The robot body 1 is a steel alloy body, and a shock-absorbing layer is provided on the inner wall of the robot body 1. The shock-absorbing layer is a rubber layer, and the thickness of the shock-absorbing layer is 13 mm.

[0080] In summary, the robot body 1 of the present invention can integrate the functions of target crushing, intelligent identification, precise positioning, rapid sorting and classified delivery, solving the problems of low sorting accuracy, poor adaptability and insufficient efficiency in the existing technology, realizing efficient separation of coal gangue, improving coal quality and reducing production costs.

[0081] The above description is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention fall within the protection scope and disclosure scope of the present invention.

Claims

1. A coal gangue intelligent sorting robot, characterized in that: The coal gangue intelligent sorting robot comprises a robot body, the top of which is provided with a crushing component, a sorting component and a delivery component, and the bottom of which is provided with a driving component; The driving assembly includes a moving crawler and a hydraulic driving structure electrically connected to the moving crawler; The forward end of the robot body is provided with an identification component, and the robot body is provided with a safety component and a control component; The crushing component, the sorting component, the delivery component, the driving component, the identification component and the safety component are respectively connected to the control component via wired or wireless connections.

2. The intelligent gangue sorting robot according to claim 1, characterized in that: The crushing component is a hydraulic breaker hammer or a rotary cutting head.

3. The intelligent gangue sorting robot according to claim 2, characterized in that: The sorting component includes a mechanical arm structure, one end of which is movably connected to the top of the robot body, and the other end of which is bolted to the hydraulic breaker or the rotary cutting head.

4. The intelligent gangue sorting robot according to claim 2 or 3, characterized in that: The robotic arm structure includes an arm body and a rotating base, one end of the arm body is fixedly connected to the rotating base, and the other end is bolted to the hydraulic breaker or the rotating cutting head, and the rotating base is clamped on the top of the robot body; The arm body is electrically connected to a servo motor, and the servo motor is used to drive the arm body to operate; The arm body is a six-axis collaborative robotic arm.

5. The intelligent gangue sorting robot according to any one of claims 1 to 4, characterized in that: The delivery assembly includes a first chute and a second chute arranged in parallel on the top of the robot body, the first chute and the second chute are used to deliver coal and coal gangue respectively; The outlet end of the first chute and the outlet end of the second chute are respectively connected to the first collecting tank and the second collecting tank through pipelines.

6. The intelligent gangue sorting robot according to any one of claims 1 to 5, characterized in that: The moving crawler is provided with a GPS locator, which is used for precise movement and positioning of the robot.

7. The intelligent gangue sorting robot according to any one of claims 1 to 6, characterized in that: The recognition component includes a camera and an infrared sensor. The camera is installed at the forward end of the robot body, and the infrared sensor is arranged on either side close to the camera.

8. The intelligent gangue sorting robot according to any one of claims 1 to 7, characterized in that: The safety component includes an emergency braking system, which is connected to the driving component via a hydraulic device. The emergency braking system is used to ensure the safe operation of the robot body.

9. The intelligent gangue sorting robot according to any one of claims 1 to 8, characterized in that: The robot body is a steel alloy body, and a shock-absorbing layer is provided on the inner wall of the robot body.

10. The intelligent gangue sorting robot according to claim 9, characterized in that: The shock-absorbing layer is a rubber layer, and the thickness of the shock-absorbing layer is 12 mm to 14 mm.

Images