Combined separation system and separation method for dry separation and impurity removal of coal

Abstract

The invention relates to the technical field of coal washing equipment, in particular to a combined sorting system and sorting method for coal dry separation and impurity removal, and the sorting system comprises a feeding device, an impurity picking belt conveyor, an impurity picking module, a sorting belt conveyor, a sorting module and an industrial personal computer; the impurity picking module comprises an image acquisition device and an impurity picking device, and the industrial personal computer identifies impurities according to raw coal material images shot by the image acquisition device and controls the impurity picking device to remove impurities; the sorting module comprises an X-ray receiving and transmitting device and a sorting device, and the industrial personal computer distinguishes clean coal and gangue according to X-ray detection data and controls the sorting device to complete sorting; therefore, the raw coal sorting device can accurately remove sundries such as wood, bamboo chips, iron wires, woven bags, plastic pipes and the like in raw coal, and is combined with the sorting belt conveyor, the X-ray receiving and transmitting device and the sorting device to realize accurate separation of clean coal and gangue, so that operation equipment for subsequent crushing, washing and the like is protected, the equipment is prevented from being blocked and damaged, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] This invention relates to the field of coal washing and beneficiation equipment technology, and in particular to a combined separation system and method for dry coal separation and impurity removal. Background Technology

[0002] With the ongoing mining of coal resources, the gangue content of raw coal in coking coal preparation plants is gradually increasing, leading to a heavier burden on existing washing and beneficiation systems. Therefore, pre-gangue removal treatment is required for washed raw coal. However, the traditional heavy medium shallow trough gangue removal method generates coal slurry and requires the addition of a medium treatment system, which reduces the processing efficiency of the coal preparation plant and increases operating costs. As a newly emerging coal pre-gangue removal device in recent years, intelligent dry coal separators are widely used in power coal preparation plants. They are separation equipment that separates clean coal from gangue based on the differences in the coal's radiation absorption properties or its own color, and are mainly used for lump coal separation.

[0003] However, existing intelligent dry separators have difficulty removing impurities from raw coal. These impurities mainly include wood, bamboo pieces, wire, woven bags, and plastic pipes. The main reasons for this difficulty are twofold: first, the X-ray detection rate is low, often mistaking impurities for clean coal; second, the execution success rate of the actuators is low, with a low hit rate when blowing or striking long, strip-shaped, or mesh-like impurities into the gangue chute. If impurities enter crushing and washing equipment along with the clean coal, it can easily cause equipment blockages and damage, as well as safety accidents such as belt conveyor tearing. Currently, most coal preparation plants use manual picking to remove impurities, which is inefficient, labor-intensive, and harmful to the health of workers. Summary of the Invention

[0004] The purpose of this invention is to provide a combined coal dry separation system and method for removing impurities, which can solve the problem that existing intelligent dry separators cannot efficiently remove impurities from raw coal.

[0005] To solve the above-mentioned technical problems, the present invention provides a combined coal dry separation and impurity removal system, including a feeding device, a dirt-collecting belt conveyor, a dirt-collecting module, a sorting belt conveyor, a sorting module, and an industrial control computer; the feeding device is located near the input end of the dirt-collecting belt conveyor, the sorting belt conveyor is located near the output end of the dirt-collecting belt conveyor, the dirt-collecting module is located above the dirt-collecting belt conveyor, and the sorting module is located near the output end of the sorting belt conveyor; the feeding device, the dirt-collecting belt conveyor, the sorting belt conveyor, the dirt-collecting module, and the sorting module are all connected to the industrial control computer; the dirt-collecting module includes an image acquisition device and a dirt-collecting device, the image acquisition device being used to acquire images of the raw coal material output by the feeding device and transmit the acquired raw coal material images. The industrial control computer is used to identify impurities based on the image of the raw coal material, and to control the impurity-collecting device to grab the impurities based on the identification results, so as to remove the impurities from the raw coal material; the impurity-collecting belt conveyor is used to transport the raw coal material after impurity removal to the sorting belt conveyor, and the sorting belt conveyor is used to transport the raw coal material after impurity removal to the sorting module; the sorting module includes an X-ray transceiver and a sorting device, the X-ray transceiver is used to perform X-ray detection on the raw coal material after impurity removal, and transmit the detected X-ray image data to the industrial control computer; the industrial control computer is used to identify clean coal and gangue based on the X-ray image data, and to control the sorting device to sort clean coal and gangue based on the identification results.

[0006] Optionally, the impurity collection device includes one or more pairs of robotic arms disposed on both sides of the impurity collection belt conveyor, and the sorting device includes multiple sets of connected nozzle valves and nozzles. The nozzle valves are connected to the industrial control computer, and the multiple nozzles are evenly arranged at the bottom of the output end of the sorting belt conveyor.

[0007] Optionally, the debris chute is provided on both sides of the debris collection belt conveyor, and the debris chute is provided in a one-to-one correspondence with the robotic arm, the robotic arm including a multi-tooth gripper.

[0008] Optionally, the input end of the waste-collecting belt conveyor is provided with a mounting bracket, and an adjustable movable joint connected to the image acquisition device is connected to the mounting bracket. The adjustable movable joint is used to adjust the installation angle and height of the image acquisition device.

[0009] Optionally, the image acquisition device includes an explosion-proof camera, and the angle of depression between the optical axis of the explosion-proof camera and the belt plane of the waste collection conveyor is 40° to 70°.

[0010] Optionally, the conveying speed of the sorting belt conveyor is 1.4 m / s to 1.8 m / s, the conveying speed of the waste collection belt conveyor is 0.5 m / s to 0.7 m / s, and the length of the waste collection belt conveyor is greater than or equal to 3 m.

[0011] Optionally, the top of the sorting belt conveyor and the sorting module is provided with an equipment protective cover, the X-ray transceiver is connected to the equipment protective cover, and the equipment protective cover is connected to a radiation source cooling device for cooling the X-ray transceiver.

[0012] Optionally, the industrial control computer is used to identify debris in the raw coal material image using a pre-trained debris recognition model.

[0013] Optionally, the coal dry separation and impurity removal combined separation system provided by the present invention further includes a first discharge chute and a second discharge chute arranged sequentially along the transport direction of the separation belt conveyor. One of the first discharge chute and the second discharge chute is used to receive the clean coal separated by the separation module, and the other of the first discharge chute and the second discharge chute is used to receive the gangue separated by the separation module.

[0014] To address the aforementioned technical problems, this invention also provides a combined coal dry separation method for removing impurities, used in the combined coal dry separation system described above. The method includes: controlling a feeding device to uniformly distribute raw coal material onto a debris-collecting belt conveyor; acquiring an image of the raw coal material from an image acquisition device; identifying impurities based on the raw coal material image, and controlling the debris-collecting device to grab and remove impurities from the raw coal material based on the identification results; controlling the debris-collecting belt conveyor to transfer the impurity-removed raw coal material to a sorting belt conveyor; acquiring X-ray imaging data detected by an X-ray transceiver; identifying clean coal and gangue based on the X-ray imaging data, and controlling the sorting device to sort the clean coal and gangue based on the identification results.

[0015] Compared with existing technologies, the combined coal dry separation system and method provided by this invention have the following advantages:

[0016] The coal dry separation and impurity removal combined sorting system provided by this invention includes a feeding device, a dirt-collecting belt conveyor, a dirt-collecting module, a sorting belt conveyor, a sorting module, and an industrial control computer. The feeding device is located near the input end of the dirt-collecting belt conveyor, the sorting belt conveyor is located near the output end of the dirt-collecting belt conveyor, the dirt-collecting module is located above the dirt-collecting belt conveyor, and the sorting module is located near the output end of the sorting belt conveyor. The feeding device, the dirt-collecting belt conveyor, the sorting belt conveyor, the dirt-collecting module, and the sorting module are all connected to the industrial control computer. The dirt-collecting module includes an image acquisition device and a dirt-collecting device. The image acquisition device is used to acquire images of the raw coal material output by the feeding device and transmit the acquired raw coal material images to the industrial control computer. The system comprises: an industrial control computer for identifying impurities based on an image of the raw coal material, and controlling the impurity-collecting device to grab and remove impurities from the raw coal material based on the identification results; a impurity-collecting belt conveyor for conveying the raw coal material after impurity removal to a sorting belt conveyor, and a sorting belt conveyor for conveying the raw coal material after impurity removal to a sorting module; a sorting module including an X-ray transceiver and a sorting device, the X-ray transceiver for performing X-ray detection on the raw coal material after impurity removal and transmitting the detected X-ray image data to the industrial control computer; and an industrial control computer for identifying clean coal and gangue based on the X-ray image data and controlling the sorting device to sort the clean coal and gangue based on the identification results.

[0017] Therefore, the coal dry separation and impurity removal combined sorting system provided by this invention can solve the problem of existing intelligent dry separators being unable to remove impurities through the image acquisition device and impurity removal device of the impurity removal module. It can accurately remove impurities such as wood, bamboo pieces, iron wire, woven bags, and plastic pipes present in raw coal. At the same time, in conjunction with the downstream sorting belt conveyor, X-ray transceiver and sorting device, it can achieve precise separation of clean coal and gangue, protect the subsequent crushing and washing equipment, prevent equipment blockage and damage, eliminate safety production accidents such as belt conveyor tearing caused by impurities, and reduce the labor intensity of workers. In addition, the coal dry separation and impurity removal combined sorting system provided by this invention can be used for pre-selection impurity removal and pre-gangue removal in power coal preparation plants and coking coal preparation plants, improving the production efficiency of coal preparation plants.

[0018] The coal dry separation and impurity removal combined sorting method provided by this invention, through the steps of first removing impurities and then sorting, can accurately identify and automatically grab impurities such as wood, bamboo pieces, iron wire, woven bags, and plastic pipes in raw coal using a robotic arm. This effectively prevents impurities from entering subsequent sorting and processing stages, thereby protecting crushing, washing, and other equipment from blockage and damage, and eliminating safety accidents such as belt tearing caused by impurities. At the same time, the sorting method provided by this invention combines X-ray identification and injection sorting to achieve accurate separation of clean coal and gangue, which not only improves sorting accuracy and overall production efficiency, but also significantly reduces manual labor intensity. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the combined dry coal separation and impurity removal system provided in an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the impurity-collecting module of a combined dry coal separation system provided in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the sorting module of a combined coal dry separation and impurity removal system provided in an embodiment of the present invention.

[0022] Figure 4 A flowchart of a sorting method provided in an embodiment of the present invention.

[0023] The reference numerals in the attached figures are explained as follows:

[0024] 1-Feeding device, 101-Screening equipment, 2-Collecting belt conveyor, 201-Collecting chute, 202-Mounting bracket, 203-Adjustable joint, 3-Collecting module, 301-Image acquisition device, 302-Collecting device, 303-Robot arm, 304-Multi-tooth gripper, 305-Explosion-proof camera, 4-Sorting belt conveyor, 5-Sorting module, 501-X-ray transceiver, 502-Sorting device, 503-Nozzle valve, 504-Nozzle, 6-Industrial control computer, 7-Equipment protective cover, 701-X-ray source cooling device, 702-Dust removal device interface, 8-First discharge chute, 801-Second discharge chute. Detailed Implementation

[0025] The combined coal dry separation system and method for impurity removal proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of this invention will become clearer from the following description. Please refer to the accompanying drawings for the objectives, features, and advantages of this invention to make them more apparent and understandable.

[0026] The core idea of ​​this invention is to provide a combined coal dry separation system and method for removing impurities, so as to solve the problem that existing intelligent dry separators cannot efficiently remove impurities from raw coal.

[0027] To achieve the above-mentioned goals, this invention provides a combined coal dry separation and impurity removal system. Please refer to [the relevant documentation]. Figure 1 , Figure 2 and Figure 3 ,like Figure 1 , Figure 2 and Figure 3 As shown, the combined dry coal separation and impurity removal system provided by the present invention includes a feeding device 1, a dirt-collecting belt conveyor 2, a dirt-collecting module 3, a sorting belt conveyor 4, a sorting module 5, and an industrial control computer 6. The feeding device 1 is located near the input end of the dirt-collecting belt conveyor 2, the sorting belt conveyor 4 is located near the output end of the dirt-collecting belt conveyor 2, the dirt-collecting module 3 is located above the dirt-collecting belt conveyor 2, and the sorting module 5 is located near the output end of the sorting belt conveyor 4. The feeding device 1, the dirt-collecting belt conveyor 2, the sorting belt conveyor 4, the dirt-collecting module 3, and the sorting module 5 are all connected to the industrial control computer 6. The dirt-collecting module 3 includes an image acquisition device 301 and a dirt-collecting device 302. The image acquisition device 301 is used to acquire images of the raw coal material output by the feeding device 1 and transmit the acquired raw coal material images to the industrial control computer 6. The industrial control computer 6 is used to identify impurities based on the image of the raw coal material, and to control the impurity-collecting device 302 to grab the impurities based on the identification results, so as to remove the impurities from the raw coal material; the impurity-collecting belt conveyor 2 is used to convey the raw coal material after impurity removal to the sorting belt conveyor 4, and the sorting belt conveyor 4 is used to convey the raw coal material after impurity removal to the sorting module 5; the sorting module 5 includes an X-ray transceiver 501 and a sorting device 502. The X-ray transceiver 501 is used to perform X-ray detection on the raw coal material after impurity removal, and to transmit the detected X-ray image data to the industrial control computer 6; the industrial control computer 6 is used to identify clean coal and gangue based on the X-ray image data, and to control the sorting device 502 to sort clean coal and gangue based on the identification results.

[0028] Therefore, the coal dry separation and impurity removal combined sorting system provided by this invention can solve the problem that existing intelligent dry separators cannot remove impurities through the image acquisition device 301 and impurity removal device 302 of the impurity removal module 3. It can accurately remove impurities such as wood, bamboo pieces, iron wire, woven bags, and plastic pipes present in raw coal. At the same time, in conjunction with the downstream sorting belt conveyor 4, X-ray transceiver 501 and sorting device 502, it can achieve precise separation of clean coal and gangue, protect the subsequent crushing, washing and other operation equipment, prevent equipment blockage and damage, eliminate the occurrence of safety production accidents such as belt conveyor tearing caused by impurities, and reduce the labor intensity of workers. In addition, the coal dry separation and impurity removal combined sorting system provided by this invention can be used for pre-selection impurity removal and pre-gangue removal in power coal preparation plants and coking coal preparation plants, improving the production efficiency of coal preparation plants.

[0029] For details, please continue to refer to [the website / information]. Figure 2 and Figure 3 ,like Figure 2 and Figure 3 As shown, raw coal material is evenly distributed from the raw coal belt conveyor onto the impurity-collecting belt conveyor 2 via the feeding device 1. The image acquisition device 301 above the impurity-collecting belt conveyor 2 captures images of the raw coal material and transmits the images to the industrial control computer 6 for data analysis and comparison. Then, the industrial control computer 6 transmits an execution signal to the impurity-collecting device 302 to pick up and discard impurities. At the same time, the impurity-collecting belt conveyor 2 pre-accelerates the material and transports it to the sorting belt conveyor 4. The X-ray transceiver 501 is installed above the sorting belt conveyor 4 to perform X-ray detection on the raw coal material after impurities are removed and transmits the data to the industrial control computer 6 for analysis. Then, the industrial control computer 6 transmits an execution signal to the sorting device 502. After receiving the execution signal from the industrial control computer 6, the sorting device 502 separates the clean coal or gangue by injection, achieving precise separation of clean coal and gangue. It should be noted that, as those skilled in the art can understand, the specific structure and detection principle of the X-ray transceiver device 501 (including the transmitter and receiver) can be adapted by referring to relevant content in the field of X-ray detection known to those skilled in the art, and will not be elaborated here.

[0030] Furthermore, the impurity picking module 3 in this invention can also be used to identify gangue. The image acquisition device 301 transmits the image of the raw coal material to the industrial control computer 6, which integrates it with the X-ray detection data for comprehensive analysis, thereby improving the accuracy of coal and gangue sorting.

[0031] Please refer to Figure 2 ,like Figure 2 As shown, the feeding device 1 includes an inclined screening device 101, which is used to evenly distribute the material on the impurity collection belt conveyor 2.

[0032] Therefore, the screening equipment 101 can perform preliminary screening and uniform distribution of raw coal materials, avoid material accumulation or uneven distribution, and ensure that the raw coal is spread evenly on the impurity collection belt conveyor 2 with appropriate thickness and speed.

[0033] Specifically, it should be noted that, as those skilled in the art can understand, the specific structure and feeding principle of the screening equipment 101 can be adapted by referring to relevant content in the field of screening known to those skilled in the art, such as (roller screen or vibrating screen), and will not be elaborated here.

[0034] Please continue to refer to this. Figure 2 and Figure 3 ,like Figure 2 and Figure 3 As shown, the impurity picking device 302 includes one or more pairs of robotic arms 303 disposed on both sides of the impurity picking belt conveyor 2, and the sorting device 502 includes multiple sets of connected nozzle valves 503 and nozzles 504. The nozzle valves 503 are connected to the industrial control computer 6, and the multiple nozzles 504 are evenly arranged at the bottom of the output end of the sorting belt conveyor 4.

[0035] Therefore, with this setup, when multiple items arrive at the same time, different robotic arms 303 can be used to pick them up separately, thereby improving the efficiency of picking up items and reducing the probability of missing items. In addition, by evenly arranging multiple nozzles 504 at the bottom of the output end of the sorting belt conveyor 4, the spray coverage area can be expanded and the sorting accuracy can be improved.

[0036] Furthermore, when the raw coal material detected by X-rays reaches the output end of the sorting belt conveyor 4, the industrial control computer 6 controls the nozzle valve 503 according to the analysis results, so that the nozzle 504 at the corresponding position instantly sprays out a high-speed airflow to separate the target material (clean coal or gangue); the evenly arranged multiple nozzles 504 can ensure that the spraying range can cover the entire width of the sorting belt conveyor 4 without any missed areas.

[0037] Please refer to Figure 2 ,like Figure 2 As shown, the debris chute 201 is provided on both sides of the debris collection belt conveyor 2. The debris chute 201 is provided in a one-to-one correspondence with the robot arm 303. The robot arm 303 includes a multi-tooth gripper 304.

[0038] Therefore, by setting up two debris chutes 201, the robotic arm 303 can conveniently discard debris.

[0039] Furthermore, the multi-tooth gripper 304 includes multiple upwardly inclined serrated structures. The multi-tooth gripper 304 on the robotic arm 303 can enhance its gripping force and adaptability, and can firmly grip debris with different surface characteristics and irregular shapes, such as wood, woven bags, and plastic pipes, effectively preventing slippage during the gripping and discarding process, thereby greatly improving the accuracy and efficiency of debris removal.

[0040] Please continue to refer to this. Figure 2 ,like Figure 2 As shown, the input end of the waste-collecting belt conveyor 2 is provided with a mounting bracket 202. An adjustable movable joint 203 connected to the image acquisition device 301 is connected to the mounting bracket 202. The adjustable movable joint 203 is used to adjust the installation angle and height of the image acquisition device 301.

[0041] Therefore, this configuration allows the position of the image acquisition device 301 to be flexibly adjusted according to actual needs, thereby ensuring that the image acquisition device 301 can always cover the material on the picking belt conveyor 2 at the best angle and height.

[0042] Specifically, the input end of the debris-collecting belt conveyor 2 is equipped with a mounting bracket 202 and an adjustable movable joint 203, allowing the installation angle and height of the image acquisition device 301 to be flexibly adjusted according to the raw coal particle size distribution, material layer thickness, on-site lighting conditions, and dust environment. This ensures that the image acquisition device 301 is always in the optimal shooting position and angle, effectively avoiding image distortion, reflection, or obstruction caused by improper angles, significantly improving the accuracy of debris identification and image acquisition quality. Simultaneously, this setup facilitates system debugging and maintenance, and can adapt to changes in different coal quality characteristics and production needs. Furthermore… The mounting bracket 202 has a U-shaped cross section and spans above the waste collection conveyor 2. Its two legs are fixedly connected to both sides of the waste collection conveyor 2. The adjustable movable joint 203 includes a telescopic rod and a ball head seat connected to its end. The image acquisition device 301 is connected to the mounting base with the ball head. The pitch angle, horizontal angle and tilt angle of the image acquisition device 301 can be arbitrarily adjusted by the multi-degree-of-freedom rotation of the ball head in the ball head seat. When the optimal shooting angle is adjusted, the locking sleeve on the outside of the ball head seat is tightened so that the internal conical surface presses against the surface of the ball head to generate a friction torque, thereby locking the current posture.

[0043] Preferably, the image acquisition device 301 includes an explosion-proof camera 305, and the angle of depression between the optical axis of the explosion-proof camera 305 and the belt plane of the waste collection conveyor 2 is 40° to 70°.

[0044] Therefore, this configuration optimizes the field of view and imaging quality of the explosion-proof camera 305, enabling it to clearly capture the upper surface morphology and some side features of the material from a tilted downward angle, thereby significantly improving the ability to identify three-dimensional debris.

[0045] Furthermore, since the explosion-proof camera 305 can meet the safety explosion-proof level requirements of flammable and explosive environments in coal preparation plants, it eliminates the risk of gas or coal dust explosions caused by electrical sparks. The use of the explosion-proof camera 305 can ensure stable and safe continuous operation in environments where combustible dust may exist, thus ensuring overall production safety.

[0046] Preferably, the sorting belt conveyor 4 has a transport speed of 1.4 m / s to 1.8 m / s, the sorting belt conveyor 2 has a transport speed of 0.5 m / s to 0.7 m / s, and the length of the sorting belt conveyor 2 is greater than or equal to 3 m.

[0047] Therefore, this setting, where the raw coal material is pre-accelerated before entering the sorting belt conveyor 4, can prevent the material from directly entering the sorting belt conveyor 4 and causing relative rolling, thereby avoiding a decrease in the detection accuracy of the X-ray transceiver 501 and affecting the sorting precision.

[0048] Specifically, the low-speed operation of the debris-collecting belt conveyor 2 significantly extends the image acquisition time window of the explosion-proof camera 305 for each piece of material, allowing the industrial control computer 6 more time for data analysis and processing. Simultaneously, it ensures the accuracy and stability of the robotic arm 303's grasping action, greatly improving the detection rate and success rate of debris such as wood and wire. The debris-collecting belt conveyor 2, with a length of no less than 3m, provides ample pre-acceleration distance, allowing the material to smoothly accelerate from the low-speed state of the feeding device 1 to the speed required by the sorting belt conveyor 4. This effectively avoids material slippage, jumping, or stacking, ensuring uniform distribution of raw coal material and a smooth transition to the high-speed operation of the sorting belt conveyor 4. The sorting belt conveyor 4 operates at a high speed of 1.4m / s to 1.8m / s, further increasing the material spacing and providing separate detection conditions for the X-ray transceiver 501, ensuring high precision and efficiency in the coal and gangue sorting process.

[0049] Please refer to Figure 1 and Figure 3 ,like Figure 1 and Figure 3 As shown, the top of the sorting belt conveyor 4 and the sorting module 5 is provided with an equipment protective cover 7. The X-ray transceiver 501 is connected to the equipment protective cover 7. The equipment protective cover 7 is connected with a radiation source cooling device 701, which is used to cool the X-ray transceiver 501.

[0050] Therefore, the equipment protective cover 7 provides physical protection, and the X-ray source cooling device 701 provides active cooling, which can effectively prevent the X-ray source of the X-ray transceiver 501 from overheating, which may lead to performance degradation or failure, significantly extend the service life of the equipment, and ensure the long-term stable operation of the X-ray transceiver 501.

[0051] Furthermore, the equipment protective cover 7 is fixed to the top of the sorting belt conveyor 4 and the sorting device 502, forming a closed space to isolate the X-ray transceiver 501 from the high concentration of coal dust, water vapor and splashing particles in the outside world, preventing radiation pollution and damage to the internal circuits; the radiation source cooling device 701 is cooled by air, water or oil, and its heat dissipation air duct or cooling pipe is in direct contact with the heating component of the X-ray transceiver 501 through the reserved interface of the equipment protective cover 7, and continuously dissipates heat through forced convection or heat conduction.

[0052] Please continue to refer to this. Figure 3 ,like Figure 3 As shown, the equipment protective cover 7 is provided with a dust removal device interface 702, which is used to connect to a dust removal device to absorb the dust inside the equipment protective cover 7.

[0053] Therefore, this setup can extract internal dust in real time, preventing dust from contaminating the X-ray transceiver 501, ensuring long-term stable detection accuracy and extending the equipment's service life.

[0054] Furthermore, by connecting the external negative pressure dust removal device to the dust removal device interface 702 on the equipment protective cover 7, a negative pressure airflow is continuously generated during system operation to actively suck away the suspended dust generated inside the equipment protective cover 7 due to the material sorting process, thereby maintaining the cleanliness of the air inside the equipment protective cover 7. This directly protects the optical window and internal precision components of the X-ray transceiver 501 from dust adhesion and interference, and effectively prevents dust from accumulating on the nozzle 504, thereby avoiding its malfunction and improving the reliability of the sorting action.

[0055] Furthermore, the industrial control computer 6 is used to identify debris in the raw coal material image using a pre-trained debris recognition model.

[0056] Therefore, when the coal quality changes, the material detection conditions can be automatically adjusted, thereby reducing the time required for manual debugging and improving the convenience for operators.

[0057] Specifically, the impurity recognition model used in the industrial control computer 6 of the coal dry separation and impurity removal combined sorting system provided by this invention automatically establishes association rules between different coal quality characteristics (such as gray scale distribution, texture density, and particle morphology) and impurity recognition thresholds by continuously collecting and analyzing historical detection data. When changes in coal quality cause image feature distribution to drift, the impurity recognition model quickly perceives the downward trend of recognition accuracy based on an online learning mechanism, and then automatically fine-tunes network parameters or dynamically adjusts classification thresholds using incremental learning algorithms. This achieves adaptive optimization of detection conditions without manual intervention, thereby significantly shortening the debugging cycle.

[0058] The coal dry separation and impurity removal combined separation system provided by the present invention further includes a first discharge chute 8 and a second discharge chute 801 arranged sequentially along the transport direction of the separation belt conveyor 4. One of the first discharge chute 8 and the second discharge chute 801 is used to receive the clean coal separated by the separation module 5, and the other of the first discharge chute 8 and the second discharge chute 801 is used to receive the gangue separated by the separation module 5.

[0059] Therefore, by using the first discharge chute 8 and the second discharge chute 801 in conjunction with the nozzle valve 503 and the nozzle 504, the separation of clean coal and gangue can be achieved efficiently.

[0060] Furthermore, when the material detected by X-rays reaches the output end of the sorting belt conveyor 4, the industrial control computer 6 controls the nozzle valve 503 according to the analysis results, so that the nozzle 504 at the corresponding position instantly sprays out a high-speed airflow, blowing the target material (clean coal or gangue) laterally towards the second discharge chute 801; the material that is not sprayed falls naturally under the action of inertia and falls into the first discharge chute 8 adjacent to the side of the sorting belt conveyor 4, while the material that is sprayed crosses the first discharge chute 8 under the action of airflow and falls into the outer second discharge chute 801, thereby realizing the automatic and complete separation of clean coal or gangue.

[0061] Based on the same inventive concept, this invention also provides a combined separation method for dry coal separation and impurity removal, used in the combined separation system for dry coal separation and impurity removal described above. Please refer to [reference needed]. Figure 4 ,like Figure 4As shown, the sorting method includes: step S100, controlling the feeding device 1 to uniformly distribute raw coal material to the impurity-collecting belt conveyor 2; step S200, acquiring an image of the raw coal material collected by the image acquisition device 301; step S300, identifying impurities based on the image of the raw coal material, and controlling the impurity-collecting device 302 to grab impurities based on the identification results, so as to remove impurities from the raw coal material; step S400, controlling the impurity-collecting belt conveyor 2 to convey the raw coal material after impurity removal to the sorting belt conveyor 4; step S500, acquiring X-ray imaging data detected by the X-ray transceiver device 501; step S600, identifying clean coal and gangue based on the X-ray imaging data, and controlling the sorting device 502 to sort clean coal and gangue based on the identification results.

[0062] Therefore, by first removing impurities and then sorting, the impurity removal device 302 can accurately identify and automatically grab impurities such as wood, bamboo pieces, wire, woven bags, and plastic pipes in the raw coal, effectively preventing impurities from entering the subsequent sorting and processing stages. This protects crushing, washing, and other equipment from blockage and damage, and eliminates safety accidents such as belt tearing caused by impurities. At the same time, the sorting method provided by this invention combines X-ray identification and jet sorting to achieve accurate separation of clean coal and gangue, which not only improves sorting accuracy and overall production efficiency, but also significantly reduces the intensity of manual labor.

[0063] Specifically, after the system is started, the control feeding device 1 will evenly disperse and flatten the raw coal material on the pick-up belt conveyor 2 to ensure that the material layer thickness is consistent and there is no stacking.

[0064] When raw coal enters the input end of the debris-collecting belt conveyor 2, the image acquisition device 301 installed on the adjustable movable joint 203 takes high-frequency continuous pictures of the raw coal and transmits the image data of the raw coal containing shape, color, texture and position information to the industrial control computer 6 in real time. The industrial control computer 6 has a built-in deep learning model to perform millisecond-level analysis and comparison of the image data, identify debris such as wood, bamboo pieces, wire, and woven bags and calculate their precise position and movement trajectory. Then, it sends a grabbing command to the corresponding side robot arm 303. The robot arm 303 quickly locates and firmly grabs the target debris and transfers it to the debris chute 201 to complete the disposal action.

[0065] After being cleaned, the raw coal material is smoothly pre-accelerated on the cleaned belt conveyor 2 and then output to the sorting belt conveyor 4. The X-ray transceiver 501 performs a transmission scan on the high-speed passing raw coal material. Based on the different attenuation signals formed by the density difference between clean coal and gangue, the detection data is transmitted back to the industrial control computer 6 for further analysis. The industrial control computer 6 determines the properties of each material block based on the analysis results and predicts the time and position of its arrival at the sorting device 502. When the target material arrives at the output end of the sorting belt conveyor 4, the industrial control computer 6 sends an execution command to the nozzle valve 503. The nozzle valve 503 controls one or more nozzles 504 to open synchronously. Using compressed air to generate an upward impact force, the determined clean coal or gangue is precisely sprayed from the material flow, deviating from the original parabolic trajectory, so that it crosses the first drop chute 8 and falls into the outer second drop chute 801. The material that is not sprayed falls naturally back to the first drop chute 8, thus completing the continuous, efficient and precise sorting of clean coal and gangue.

[0066] Compared with existing technologies, the combined coal dry separation system and method provided by this invention have the following advantages:

[0067] The coal dry separation and impurity removal combined sorting system provided by this invention can solve the problem that existing intelligent dry separators cannot remove impurities. It can accurately remove impurities such as wood, bamboo pieces, iron wire, woven bags, and plastic pipes from raw coal. In conjunction with the downstream sorting belt conveyor 4, X-ray transceiver 501, and sorting device 502, it can achieve precise separation of clean coal and gangue, protect subsequent crushing and washing equipment, prevent equipment blockage and damage, eliminate safety accidents such as belt conveyor tearing caused by impurities, and reduce the labor intensity of workers. The coal dry separation and impurity removal combined sorting system provided by this invention can be used for pre-selection impurity removal and pre-gangue removal in power coal preparation plants and coking coal preparation plants, improving the production efficiency of coal preparation plants.

[0068] The sorting method provided by this invention, through a process of first removing impurities and then sorting, can accurately identify and automatically grab impurities such as wood, bamboo pieces, wire, woven bags, and plastic pipes from raw coal using a robotic arm 303. This effectively prevents impurities from entering subsequent sorting and processing stages, thereby protecting crushing and washing equipment from blockage and damage, and eliminating safety accidents such as belt tearing caused by impurities. At the same time, the sorting method provided by this invention combines X-ray identification and jet sorting to achieve accurate separation of clean coal and gangue, which not only improves sorting accuracy and overall production efficiency, but also significantly reduces the intensity of manual labor.

[0069] The above description is only a description of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A combined coal dry separation and impurity removal system, characterized in that, The device comprises a feeding device, a picking belt conveyor, a picking module, a sorting belt conveyor, a sorting module and an industrial computer; the feeding device is arranged near the input end of the picking belt conveyor; the sorting belt conveyor is arranged near the output end of the picking belt conveyor; the picking module is arranged above the picking belt conveyor; the sorting module is arranged near the output end of the sorting belt conveyor; the feeding device, the picking belt conveyor, the sorting belt conveyor, the picking module and the sorting module are connected with the industrial computer; The picking module comprises an image acquisition device and a picking device; the image acquisition device is used for acquiring images of raw coal materials output by the feeding device and transmitting the acquired images of raw coal materials to the industrial computer; The industrial computer is used for identifying sundries according to the images of raw coal materials and controlling the picking device to grab the sundries according to the identification result of the sundries, so as to remove the sundries in the raw coal materials; The picking belt conveyor is used for conveying the raw coal materials after the sundries are removed to the sorting belt conveyor; the sorting belt conveyor is used for conveying the raw coal materials after the sundries are removed to the sorting module; The sorting module comprises an X-ray transceiver and a sorting device; the X-ray transceiver is used for detecting the raw coal materials after the sundries are removed by X-ray and transmitting the detected X-ray data to the industrial computer; The industrial computer is used for identifying clean coal and gangue according to the X-ray data and controlling the sorting device to sort the clean coal and the gangue according to the identification result of the clean coal and the gangue.

2. The combined coal dry cleaning and beneficiation system of claim 1, wherein, The picking device comprises one or more pairs of mechanical hands arranged on both sides of the picking belt conveyor; the sorting device comprises multiple groups of nozzles and nozzle valves connected with each other; the nozzle valve is connected with the industrial computer; multiple nozzles are uniformly arranged at the bottom of the output end of the sorting belt conveyor.

3. The combined coal dry cleaning and beneficiation system of claim 2, wherein, Both sides of the picking belt conveyor are provided with sundry chutes, which are arranged one-to-one with the mechanical hands; the mechanical hand comprises a plurality of sawtooth grippers.

4. The combined coal dry cleaning and beneficiation system of claim 1, wherein, The input end of the picking belt conveyor is provided with a mounting bracket; the mounting bracket is connected with an adjustable movable joint connected with the image acquisition device; the adjustable movable joint is used for adjusting the mounting angle and height of the image acquisition device.

5. The combined coal dry cleaning and beneficiation system of claim 4, wherein the first and second dry cleaning and beneficiation systems are combined into a single system. The image acquisition device comprises an explosion-proof camera; the angle between the optical axis of the explosion-proof camera and the belt plane of the picking belt conveyor is 40° to 70°.

6. The combined coal dry cleaning and beneficiation system of claim 1, wherein, The conveying speed of the sorting belt conveyor is 1.4 m / s to 1.8 m / s; the conveying speed of the picking belt conveyor is 0.5 m / s to 0.7 m / s; the length of the picking belt conveyor is greater than or equal to 3 m.

7. The combined coal dry cleaning and beneficiation system of claim 1, wherein, The top of the sorting belt conveyor and the sorting module is provided with an equipment protective cover; the X-ray transceiver is connected with the equipment protective cover; the equipment protective cover is connected with a radiation source cooling device; the radiation source cooling device is used for cooling the X-ray transceiver.

8. The combined coal dry cleaning and beneficiation system of claim 1, wherein, The industrial computer is used for identifying the sundries in the raw coal material image by using a pre-trained sundries identification model.

9. The combined coal dry cleaning and beneficiation system of claim 1, wherein, The first and second material falling chutes are arranged in sequence along the conveying direction of the sorting belt conveyor, one of the first and second material falling chutes is used for receiving the clean coal sorted by the sorting module, and the other of the first and second material falling chutes is used for receiving the gangue sorted by the sorting module.

10. A combined dry coal cleaning and beneficiation method for the combined dry coal cleaning and beneficiation system of any one of claims 1 to 9, wherein, The sorting method comprises: controlling the feeding device to uniformly distribute the raw coal material to the picking belt conveyor; acquiring a raw coal material image collected by an image collection device; identifying sundries according to the raw coal material image, and controlling the picking device to pick up the sundries according to the identification result of the sundries, so as to remove the sundries in the raw coal material; controlling the picking belt conveyor to convey the raw coal material after the sundries are removed to the sorting belt conveyor; acquiring X-ray camera data detected by the X-ray transceiver device; identifying clean coal and gangue according to the X-ray camera data, and controlling the sorting device to sort the clean coal and the gangue according to the identification result of the clean coal and the gangue.

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