Coal and gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt

Abstract

The invention provides an intelligent coal and gangue separation system based on binocular machine vision and a PLC (Programmable Logic Controller) control synchronous belt, which comprises a belt conveyor, an intelligent coal and gangue identification device, an upper computer, an intelligent coal and gangue separation device and a coal and gangue storage bin, and is characterized in that the belt conveyor conveys coal and gangue passing through a crusher to the intelligent coal and gangue identification device; the coal gangue intelligent identification device comprises two high-resolution fixed on-duty binocular cameras, a YOLOv8 algorithm is built in each binocular camera to classify and position coal gangue, and an identification result is uploaded to the upper computer through the cloud server; the upper computer sends a control signal to the intelligent coal and gangue separation device through the PLC according to an identification result; the intelligent coal and gangue separation device realizes coal and gangue separation by a synchronous belt gangue receiving mechanism according to a control signal of an upper computer; the coal gangue storage bin is used for collecting discharged gangue or coal briquettes. According to the invention, in-situ identification and separation of underground lump gangue and lump coal can be realized, the gangue separation particle size is flexible and adjustable, and the equipment is simple.

Description

TECHNICAL FIELD

[0001] The present application relates to a coal gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt, belonging to the technical field of gangue selection. BACKGROUND

[0002] Gangue selection is an important operation in coal mining. If the gangue in the coal is not screened and removed, it will affect the combustion rate and overall quality of the coal. Gangue selection mainly includes manual sorting of gangue and use of mechanical hand sorting of gangue, among which, manual sorting of gangue has high labor cost and low grabbing efficiency. At present, in the operation, mechanical hand sorting of gangue is used, which has high technical requirements and insufficient flexibility, and it is difficult to grab large particle size and irregular shape gangue, which needs to be crushed by auxiliary equipment before the next grabbing, in addition, the equipment is complex and is not conducive to underground installation operation.

[0003] For example, the patent number CN112427326A discloses a coal mine underground intelligent gangue selection and backfilling process and gangue selection and gangue backfilling device, which also uses mechanical hand sorting, has high technical requirements, insufficient flexibility, and difficulty in grabbing large particle size and irregular shape gangue, needs to be crushed by auxiliary equipment before the next grabbing, and is not conducive to underground installation operation.

[0004] For another example, the patent number CN110116100A discloses a gangue selection mechanism and coal mine intelligent gangue selection system, but the system is limited by the size of the push rod and the baffle, and is prone to jamming and stopping for large particle size block gangue separation, and the particle size range of the separated block gangue is limited. In addition, when the feeding speed increases, the number of push rods needs to be increased, and the number of corresponding driving motors also needs to be increased, thereby increasing the energy consumption of the equipment.

[0005] Therefore, there is a need for a coal gangue intelligent separation system that is simple in equipment and can adapt to different particle sizes of gangue to complete efficient screening of gangue. SUMMARY

[0006] The purpose of the present application is to provide a coal gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt to solve the problem of complex equipment and difficulty in adapting to different particle size gangue separation requirements in the prior art.

[0007] The technical solution of the present application is: A coal gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt, comprising a belt conveyor, a coal gangue intelligent recognition device, an upper computer, a coal gangue intelligent separation device and a coal gangue storage bin, The belt conveyor is arranged at the transport roadway of the coal mining working section to convey the coal gangue from the crusher to the coal gangue recognition device; The coal gangue intelligent recognition device comprises two high-resolution fixed value guard binocular cameras, the binocular cameras are symmetrically installed on both sides above the belt conveyor, the binocular cameras are internally provided with a YOLOv8 algorithm for realizing classification and positioning of the coal gangue, and the recognition result is uploaded to the upper computer through a cloud server; The upper computer: the integrated coal gangue intelligent recognition device sends a control signal to the coal gangue intelligent separation device through a PLC controller according to the recognition result; The coal gangue intelligent separation device: according to the control signal of the upper computer, the coal gangue is separated by the synchronous belt gangue connecting mechanism; The coal gangue storage bin: placed at the end of the coal gangue intelligent separation device, used for collecting the discharged gangue.

[0008] Further, the coal gangue intelligent separation device comprises a base, a plurality of synchronous belt gangue connecting mechanisms, a permanent magnet synchronous motor, a main transmission shaft, a plurality of electromagnetic clutches, a plurality of transmission shafts and a plurality of transmission mechanisms, the synchronous belt gangue connecting mechanisms and the permanent magnet synchronous motor are respectively arranged on the base, the main transmission shaft is connected with the output shaft of the motor, the main transmission shaft is connected with the transmission shafts through the transmission mechanisms, the transmission shafts are respectively connected with the electromagnetic clutches in correspondence, and the electromagnetic clutches are respectively connected with the transmission mechanisms at two ends of the synchronous belt gangue connecting mechanisms.

[0009] Further, the synchronous belt gangue connecting mechanism comprises a bracket, a synchronous pulley, a synchronous belt, a guide strip plate and a plurality of gangue connecting plates, the bracket is fixed on the top of the base through a fixed plate, the synchronous pulley is arranged at the end of the bracket, the synchronous pulley is in transmission connection with the electromagnetic clutch, the top of the bracket is provided with the guide strip plate, the guide strip plate supports the synchronous belt to the same height position as the synchronous pulley, the protruding tooth top of the synchronous belt is engaged with the tooth groove below the gangue connecting plate, and the adjacent gangue connecting plates are seamlessly attached.

[0010] Further, one side of the bracket is provided with a forward stroke switch, a return stroke switch and a limiting plate, the forward stroke switch and the return stroke switch are respectively fixed on the bracket through mounting plates, and the limiting plate is provided with a buffer pad.

[0011] Further, the synchronous pulley comprises a driving pulley and a driven pulley, the driving pulley is fixed on a driving shaft, the driving pulley is symmetrically provided with a check ring, a bearing seat fixed plate, a belt seat bearing and a flange from inside to outside on both sides, the flange is connected with the electromagnetic clutch in cooperation, the driven pulley is arranged on a driven pulley tensioning shaft, the driven pulley is in clearance fit with the driven pulley tensioning shaft, and the driven pulley is respectively provided with a tensioning adjusting plate on both sides.

[0012] Further, the transmission mechanism comprises a gear transmission mechanism and a chain transmission mechanism, and the gear transmission mechanism and the chain transmission mechanism are respectively arranged on both sides of the driving pulley.

[0013] Further, for small particle size block gangue with a diameter less than a set value, the coal-gangue intelligent separation device adopts single gangue receiving plate linear reciprocating motion to complete the gangue receiving task; for large particle size block gangue with a diameter not less than a set value, the coal-gangue intelligent separation device adopts multiple gangue receiving plates to synchronously perform linear reciprocating motion at the same speed to complete the gangue receiving task.

[0014] Further, the belt conveyor and the coal-gangue intelligent separation device are arranged on the rack, and the coal-gangue storage bin is arranged below the rack.

[0015] Further, the PLC controller realizes the automatic reciprocating gangue receiving control of the synchronous belt gangue receiving mechanism by controlling the starting of a permanent magnet synchronous motor and the on-off of each electromagnetic clutch.

[0016] The beneficial effects of the present application are: I. Compared with the prior art, the coal-gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt can realize in-situ identification and separation of underground block gangue, and the particle size of the separated gangue is flexible and adjustable, and the equipment is simple.

[0017] II. The present application adopts the block gangue separation technology based on in-situ identification of underground block gangue and group slide plate cooperative control, which can realize high-accuracy identification and separation of coal and gangue, reduce the identification threshold, and is beneficial to balanced production and realizes production, transportation and storage integration.

[0018] III. The coal-gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt adopts the coal-gangue intelligent separation technology based on PLC control, realizes the automatic reciprocating operation of the synchronous belt gangue receiving execution unit by controlling a permanent magnet synchronous motor and multiple electromagnetic clutches, simplifies the equipment configuration, improves the flexibility and applicability of the system, and can meet the separation needs of gangue with different particle sizes.

[0019] IV. The coal-gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt realizes dynamic regulation and control of the synchronous belt intelligent gangue receiving execution unit under multiple working conditions, combines gear and chain transmission mechanism, can ensure stable operation and rapid response during the gangue receiving process, can improve the automation degree and control precision of production, and realizes dust-free and unmanned operation in the coal-gangue separation process. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structure schematic view of the coal-gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt of the embodiment of the present application; Figure 2 is a structure schematic view of the coal-gangue intelligent separation device in the embodiment; Figure 3 is a structure schematic view of a single synchronous belt gangue receiving mechanism in the embodiment; Figure 4is a structural schematic diagram of a permanent magnet synchronous motor, a main transmission shaft and a transmission mechanism in the embodiment; Figure 5 is a structural schematic diagram of a single synchronous belt gangue connecting mechanism after the gangue connecting plate is removed in the embodiment; Figure 6 is a PLC electrical schematic diagram of the present application.

[0021] In the figure: 1, belt conveyor, 2, coal gangue intelligent recognition device, 3, coal gangue intelligent separation device, 4, coal gangue storage bin, 31, base, 32, synchronous belt gangue connecting mechanism, 33, permanent magnet synchronous motor, 34, main transmission shaft, 35, electromagnetic clutch, 36, transmission shaft, 37, transmission mechanism; 321, bracket, 322, synchronous pulley, 323, synchronous belt, 324, gangue connecting plate, 325, forward stroke switch, 326, return stroke switch, 327, limit plate; 3221, driving pulley, 3222, driven pulley, 3223, check ring, 3224, bearing seat fixing plate, 3225, belt seat bearing, 3226, flange, 3227, tension adjusting plate; 371, gear transmission mechanism, 372, chain transmission mechanism. DETAILED DESCRIPTION

[0022] In the description of the present application, it should be understood that the terms "outer side", "both ends", "both sides", "one end", "one side", "front and rear ends", "inner", "outer", "top", "surface", "adjacent" and the like indicate the orientation or positional relationship only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, unless otherwise explicitly specified and limited, the terms "provided", "disposed", "connected", "connected" and the like should be broadly understood, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, and can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0023] As Figure 1 shown, the embodiment provides a coal gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt 323, which comprises a belt conveyor 1, a coal gangue recognition device, an upper computer, a coal gangue intelligent separation device 3 and a coal gangue storage bin 4, belt conveyor 1: provided at the transport roadway of the coal mining working section, conveying the coal gangue through the crusher to the coal gangue recognition device; Coal gangue intelligent recognition device 2: including two high-resolution fixed value guard binocular cameras, the binocular cameras are symmetrically installed on both sides above the belt conveyor 1, the binocular cameras are built-in YOLOv8 algorithm to realize classification and positioning of coal gangue, and the recognition results are uploaded to the upper computer through the cloud server; The upper computer: the integrated coal gangue intelligent recognition device 2 sends control signals to the coal gangue intelligent separation device 3 through the PLC controller according to the recognition results; Coal gangue intelligent separation device 3: according to the control signal of the upper computer, the coal gangue separation is realized by the synchronous belt 323 interface gangue mechanism 32; Coal gangue storage bin 4: placed at the end of the coal gangue intelligent separation device 3, used for collecting the discharged gangue.

[0024] Compared with the prior art, the synchronous belt 323 intelligent gangue selection system based on binocular machine vision and PLC control can realize in-situ identification and separation of underground block gangue and block coal, the particle size of the separated gangue is flexible and adjustable, and the equipment is simple.

[0025] As Figure 2 , the coal gangue intelligent separation device 3 includes a base 31, a plurality of synchronous belt 323 interface gangue mechanisms 32, a permanent magnet synchronous motor 33, a main transmission shaft 34, a plurality of electromagnetic clutches 35, a plurality of transmission shafts 36 and a plurality of transmission mechanisms 37, the synchronous belt 323 interface gangue mechanisms 32 and the permanent magnet synchronous motor 33 are respectively arranged on the base 31, the main transmission shaft 34 is connected with the output shaft of the permanent magnet synchronous motor 33, the main transmission shaft 34 is connected with the transmission shafts 36 through the transmission mechanisms 37 respectively, the transmission shafts 36 are respectively connected with the electromagnetic clutches 35 correspondingly, and the electromagnetic clutches 35 are respectively connected with the transmission of the two ends of the synchronous belt 323 interface gangue mechanisms 32. The electromagnetic clutch 35 is used for controlling the on-off of power. The main transmission shaft 34 can be supported by a vertical seat bearing, and the vertical seat bearing is fixed on the base 31.

[0026] As Figure 2 , Figure 3 and Figure 4 , the synchronous belt 323 interface gangue mechanism 32 includes a bracket 321, a synchronous pulley 322, a synchronous belt 323, a guide strip plate and a plurality of gangue interface plates 324, the bracket 321 is fixed on the top of the base 31 through a fixed plate, the synchronous pulley 322 is arranged at the end of the bracket 321, the synchronous pulley 322 is in transmission connection with the electromagnetic clutch 35, the top of the bracket 321 is provided with the guide strip plate, the guide strip plate supports the synchronous belt 323 to the same height position as the synchronous pulley 322, and simultaneously plays a role of tensioning the synchronous belt 323, the protruding tooth top of the synchronous belt 323 is engaged with the tooth groove below the gangue interface plate 324, and the adjacent gangue interface plates 324 are seamlessly matched. In the synchronous belt 323 interface gangue mechanism 32, the bracket 321 is used for fixing and supporting other components, so as to ensure the stability of the overall structure. The synchronous belt 323 has the advantages of accurate transmission, high efficiency and low noise.

[0027] As Figure 5 , the bracket 321 is provided with a forward stroke switch 325, a return stroke switch 326 and a limiting plate 327 on one side, the forward stroke switch 325 and the return stroke switch 326 are fixed on the bracket 321 through a mounting plate, and the limiting plate 327 is provided with a buffer pad. The forward stroke switch 325 and the return stroke switch 326 limit the forward and backward movement of the gangue plate 324, avoid damage to the mechanism caused by too much impact of the gangue plate 324, make the stroke of the reciprocating movement of the gangue plate 324 adjustable, and reduce noise.

[0028] The synchronous belt pulley 322 includes a driving belt pulley 3221 and a driven belt pulley 3222, the driving belt pulley 3221 is fixed on a driving shaft, the driving belt pulley 3221 is symmetrically provided with a check ring 3223, a bearing seat fixing plate 3224, a belt seat bearing 3225 and a flange 3226 from inside to outside on both sides, the flange 3226 is connected with the electromagnetic clutch 35, the driven belt pulley 3222 is arranged on a driven belt pulley 3222 tensioning shaft, the driven belt pulley 3222 is gap matched with the driven belt pulley tensioning shaft, and the driven belt pulley 3222 is provided with a tensioning adjusting plate 3227 on both sides. The driven belt pulley 3222 realizes the adjustment of the tensioning degree through the tensioning shaft and the tensioning adjusting plate 3227, and ensures that the synchronous belt 323 maintains an appropriate tensioning state in the running process.

[0029] As Figure 2 , the transmission mechanism 37 includes a gear transmission mechanism 371 and a chain transmission mechanism 372, and the gear transmission mechanism 371 and the chain transmission mechanism 372 are arranged on both sides of the driving belt pulley 3221. The driven pulley part of the transmission mechanism 37 is fixed on the transmission shaft 36 along the outside of the electromagnetic clutch 35, is fixed axially by a limiting ring, the driving pulley part of the transmission mechanism 37 is fixed on the main transmission shaft 34, and is fixed axially by a sleeve. The transmission mechanism 37 realizes the transmission of power and the forward and reverse rotation of the synchronous belt 323 through the on-off control of the electromagnetic clutch 35.

[0030] The coal-gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt 323, the belt conveyor 1 and the coal-gangue intelligent separation device 3 are arranged on the rack, and the coal-gangue storage bin 4 is arranged below the rack. By controlling the start of a permanent magnet synchronous motor 33 and the on-off of the electromagnetic clutch 35 on both sides of each driving belt pulley 3221, the running state of each synchronous belt 323 gangue executing unit is controlled, the running states of each synchronous belt 323 gangue executing unit are independent of each other, complex motion control can be realized, each synchronous belt 323 gangue executing unit is connected with the electromagnetic clutch 35 on both sides, one side controls forward rotation and the other side controls reverse rotation, the different states of each synchronous belt 323 gangue executing unit can be controlled through each electromagnetic clutch 35, and the automation degree and control precision of production are improved.

[0031] The coal and gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt 323, after the material is processed by the coal and gangue identification device, the coal and gangue are accurately identified, and the upper computer in the ground control room sends a control signal to the gangue separation device to make the synchronous belt 323 interface gangue mechanism 32 perform corresponding actions, that is, when the gangue comes, the interface gangue plate 324 advances to interface the gangue, the gangue flows along the interface gangue plate 324 to the chute, and the coal flows along the conveying belt to the discharge port, so that the coal and the gangue flow to different areas, the coal and the gangue are separated, and the separation purpose is achieved.

[0032] The coal and gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt 323 sends information to the upper computer after the binocular camera recognizes the block gangue, the upper computer controls the PLC controller to send a pulse signal, so that the PLC circuit starts to act, the coal and gangue intelligent separation device 3 receives a signal to perform a separation task, the interface gangue plate 324 extends to interface the gangue and then returns, and the block gangue slides along the interface gangue plate 324 to the storage bin. For small-diameter small-particle block gangue smaller than a set value, the coal and gangue intelligent separation device 3 adopts a single interface gangue plate 324 to complete the interface gangue task through linear reciprocating motion; for large-diameter block gangue not smaller than the set value, the coal and gangue intelligent separation device 3 adopts multiple interface gangue plates 324 to complete the interface gangue task through linear reciprocating motion at the same speed.

[0033] In order to realize the stability and reliability of production, improve the automation degree and control precision of production, and realize motion control by using PLC control technology. Figure 6In the circuit, the circuit power supply is introduced through the isolating switch QS1, and is protected from short circuit by the fuses FU1 and FU2 for the main circuit and the control circuit respectively; FR is a thermal relay for overload protection of the permanent magnet synchronous motor 33; KM1 represents the contactor of the permanent magnet synchronous motor 33, KM2 is the contactor of the electromagnetic clutch 35 connected with the chain transmission mechanism 372, and KM3 is the contactor of the electromagnetic clutch 35 connected with the gear transmission mechanism 371. The control process is as follows: under the condition that the total stop button SB1 is ensured not to be pressed, the total start switch SB2 is turned on, the contactor KM1 of the permanent magnet synchronous motor 33 is powered, the normally open contact of KM1 is closed and self-locked, and the permanent magnet synchronous motor starts forward transmission; in each independent shearer unit circuit, SB3 and SB5 are respectively used as the stop buttons of the circuit, when the action needs to be performed, the start switch SB4 is turned on, the contactor KM2 of the electromagnetic clutch 35 connected with the chain transmission mechanism 372 is powered, the normally open contact of KM2 is closed and self-locked, the normally closed contact of KM2 is opened to interlock KM3, the synchronous belt 323 shearer unit is connected to the forward rotation circuit, the synchronous belt 323 drives the shearer plate 324 to move forward to catch the coal, at the same time, when the shearer plate 324 reaches the predetermined position and collides with the travel switch SQ1, the travel switch SQ1 is connected in series with the normally closed contact of the KM2 circuit to be opened, so that the contactor KM2 of the electromagnetic clutch 35 connected with the chain transmission mechanism 372 is powered off, and at the same time, SQ1 is connected in parallel with the normally open contact beside the reverse start switch SB6 to be closed, so that the contactor KM3 of the electromagnetic clutch 35 connected with the gear transmission mechanism 371 is powered, the normally open contact of KM3 is closed and self-locked, the normally closed contact of KM3 is opened to interlock KM2, at this time, the synchronous belt 323 shearer unit is connected to the reverse rotation circuit, the synchronous belt 323 drives the shearer plate 324 to return to the original position, and at the same time, the shearer plate 324 collides with the travel switch SQ2, the normally closed contact of the travel switch SQ2 is opened, and the coil KM3 of the electromagnetic clutch 35 connected with the gear mechanism is powered off, so that the shearer plate 324 stops running.

[0034] The above PLC control technology combines the specific process requirements of the multi-execution unit cooperative operation in the coal and gangue separation system, optimizes the structure and integrates the functions of the traditional PLC control logic, and constructs a highly integrated centralized electrical control system capable of independently controlling multiple synchronous belt 323 shearer units. The design uses a single PLC controller to uniformly schedule the start and stop of a permanent magnet synchronous motor 33 and the on-off state of each electromagnetic clutch 35, and uses a self-locking circuit to ensure the signal retention and state stability of each execution mechanism during the action process, which not only significantly improves the integration of the system and the independent controllability of each execution unit, but also enhances the robustness and anti-interference ability of the system under continuous operation conditions, thereby simplifying the hardware structure while achieving flexible, accurate and reliable execution of complex motion tasks.

[0035] The coal and gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt 323 has high accuracy of coal and gangue identification based on binocular machine vision, is different from X-ray identification of two classifications of coal and gangue, and has low threshold value; the storage bin can provide a transportation amount for subsequent backfilling, guarantees balanced production, reduces hidden troubles of goaf collapse, and realizes integration of production, transportation and storage. The system can switch between coal and gangue according to actual conditions.

[0036] The coal and gangue intelligent separation system based on binocular machine vision and PLC control synchronous belt 323 can realize in-situ identification and separation of underground lump gangue and lump coal, realizes flexible adjustment of particle size of separated gangue, and has simple equipment. The coal and gangue intelligent separation device 3 based on PLC control realizes automatic back-and-forth connection of each synchronous belt 323 to a gangue executing unit only by controlling starting of one permanent magnet synchronous motor 33 and on-off of each electromagnetic clutch 35, avoids problems of complicated equipment, and randomly and flexibly combines actuating assemblies, so that different particle size gangue separation requirements can be met, and the system has a wide range of use.

[0037] The above description of the embodiments is only used to help understand the method of the present application and its core idea. It should be noted that, for those skilled in the art, without departing from the principles of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A coal and gangue intelligent separation system based on binocular machine vision and PLC-controlled synchronous belt, characterized in that: It includes a belt conveyor, a coal and gangue intelligent identification device, a host computer, a coal and gangue intelligent separation device, and a coal and gangue storage silo. Belt conveyor: Located in the transport roadway of the coal mining section, it transports the lumpy coal and gangue from the crusher to the intelligent coal and gangue identification device; Coal gangue intelligent identification device: includes two high-resolution fixed-monitor binocular cameras, which are symmetrically installed on both sides above the belt conveyor. The binocular cameras have built-in YOLOv8 algorithm to classify and locate gangue, and upload the identification results to the host computer through the cloud server. Host computer: Based on the identification results of the intelligent coal and gangue identification device, the PLC controller sends control signals to the intelligent coal and gangue separation device; Intelligent coal and gangue separation device: Based on the control signal from the host computer, the synchronous belt gangue receiving mechanism realizes the separation of coal and gangue; Coal gangue storage bin: Located at the end of the intelligent coal gangue separation device, used to collect the discharged gangue.

2. The intelligent coal and gangue separation system based on binocular machine vision and PLC-controlled synchronous belt as described in claim 1, characterized in that: The intelligent coal gangue separation device includes a base, several synchronous belt gangue receiving mechanisms, a permanent magnet synchronous motor, a main drive shaft, several electromagnetic clutches, several drive shafts, and several transmission mechanisms. The synchronous belt gangue receiving mechanisms and the permanent magnet synchronous motor are respectively mounted on the base. The main drive shaft is connected to the output shaft of the permanent magnet synchronous motor. The main drive shaft is connected to the drive shaft through the transmission mechanism. The drive shaft is connected to the electromagnetic clutches respectively. The electromagnetic clutches are respectively connected to the two ends of the synchronous belt gangue receiving mechanism.

3. The intelligent coal and gangue separation system based on binocular machine vision and PLC-controlled synchronous belt as described in claim 2, characterized in that: The synchronous belt receiving mechanism includes a bracket, a synchronous pulley, a synchronous belt, a guide plate, and several receiving plates. The bracket is fixed to the top of the base by a fixing plate. The synchronous pulley is located at the end of the bracket and is connected to an electromagnetic clutch for transmission. The top of the bracket is provided with a guide plate, which supports the synchronous belt to the same height as the synchronous pulley. The protruding tooth tips of the synchronous belt mesh with the tooth grooves below the receiving plates, and adjacent receiving plates fit together seamlessly.

4. The intelligent coal and gangue separation system based on binocular machine vision and PLC-controlled synchronous belt as described in claim 3, characterized in that: One side of the bracket is equipped with a forward travel switch, a reverse travel switch, and a limit plate. The forward travel switch and the reverse travel switch are fixed on the bracket by mounting plates, and the limit plate is equipped with a buffer pad.

5. The intelligent coal and gangue separation system based on binocular machine vision and PLC-controlled synchronous belt as described in claim 3, characterized in that: Synchronous pulleys include a driving pulley and a driven pulley. The driving pulley is fixed on the driving shaft. The driving pulley has a retaining ring, a bearing housing fixing plate, a belt bearing and a flange symmetrically arranged from the inside to the outside on both sides. The flange is connected to the electromagnetic clutch. The driven pulley is located on the driven pulley tensioning shaft. The driven pulley and the driven pulley tensioning shaft are in clearance fit. Tension adjustment plates are provided on both sides of the driven pulley.

6. The intelligent coal and gangue separation system based on binocular machine vision and PLC-controlled synchronous belt as described in claim 5, characterized in that: The transmission mechanism includes a gear transmission mechanism and a chain transmission mechanism, which are respectively located on both sides of the drive pulley.

7. The intelligent coal and gangue separation system based on binocular machine vision and PLC-controlled synchronous belt as described in any one of claims 3-6, characterized in that: For small-diameter lumps of coal with a diameter less than the set value, the intelligent coal and gangue separation device uses a single receiving plate to complete the receiving task in a linear reciprocating motion; for large-diameter lumps of coal with a diameter not less than the set value, the intelligent coal and gangue separation device uses multiple receiving plates to synchronously perform linear reciprocating motion at the same speed to complete the receiving task.

8. The intelligent coal and gangue separation system based on binocular machine vision and PLC-controlled synchronous belt as described in any one of claims 1-6, characterized in that: The belt conveyor and the intelligent coal and gangue separation device are respectively installed on the frame, and the coal and gangue storage bin is located below the frame.

9. The intelligent coal and gangue separation system based on binocular machine vision and PLC-controlled synchronous belt as described in any one of claims 1-6, characterized in that: The PLC controller controls the starting of a permanent magnet synchronous motor and the switching on and off of each electromagnetic clutch, thereby achieving automatic reciprocating connection control of each synchronous belt connection mechanism.

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