Dynamic matching type elastic plate removing device and method based on multi-dimensional information of coal gangue
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- INST OF ENERGY HEFEI COMPREHENSIVE NAT SCI CENT (ANHUI ENERGY LAB)
- Filing Date
- 2026-04-22
- Publication Date
- 2026-06-30
Smart Images
Figure CN122298702A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of coal gangue ejector plate removal devices, and in particular to a dynamic matching ejector plate removal device and method based on multi-dimensional information of coal gangue. Background Technology
[0002] Coal gangue is a solid waste generated during coal mining and washing. With the advancement of intelligent coal mine construction, keeping gangue out of the mine has become an important direction for green mining. Effective sorting and comprehensive utilization of raw coal are of great significance for environmental protection and resource conservation. In underground coal gangue sorting equipment, the rejection device is the key actuator for achieving precise separation of coal and gangue, and its performance directly determines the overall efficiency and reliability of the sorting system.
[0003] Currently, existing coal gangue removal devices mainly employ two methods: pneumatic valve-type blowing or robotic arm gripping. Pneumatic valve-type blowing devices lack sufficient blowing force for large-diameter, high-momentum materials, failing to effectively alter the gangue's trajectory. Furthermore, the high humidity and dust environment underground easily leads to valve blockage and jamming, significantly reducing removal accuracy and resulting in high maintenance costs. Robotic arm gripping suffers from long multi-arm collaborative planning times and poor synchronization. It cannot provide stable clamping force for excessively large or irregularly shaped materials, and its insufficient positioning accuracy prevents effective gripping of small or flat gangue.
[0004] In addition, existing rejection strategies lack real-time perception of material volume and velocity, and cannot dynamically adjust rejection force according to material thickness and particle size, resulting in problems such as large gangue not being rejected and small coal being easily mistakenly rejected. Summary of the Invention
[0005] The purpose of this application is to address the problems existing in the background technology by proposing a dynamic matching spring plate removal device and method based on multi-dimensional information of coal gangue, which is adapted to the harsh underground environment and is suitable for materials of different particle sizes.
[0006] On the one hand, this application proposes a dynamic matching spring plate rejection device based on multi-dimensional information of coal gangue, including a conveying mechanism for carrying and conveying coal gangue materials;
[0007] The material identification and volume measurement mechanism is installed on the upstream side of the conveying mechanism. The material identification and volume measurement mechanism is used to obtain information on the type, particle size, volume and location of coal gangue.
[0008] The spring plate rejection actuator is located at the end of the conveying mechanism. The spring plate rejection actuator includes multiple modular spring plate units arranged along the width direction of the conveying mechanism. Each modular spring plate unit includes an explosion-proof housing, a spring plate rotatably installed inside the explosion-proof housing, and an explosion-proof electromagnet. The spring plate is rotatably connected to the output shaft of the explosion-proof electromagnet.
[0009] The control unit is electrically connected to the material identification and volume measurement mechanism and the spring plate rejection execution mechanism, respectively. It is used to receive information on the type, particle size, volume and location of coal gangue, calculate rejection parameters according to a preset dynamic matching algorithm, and send control commands to the corresponding modular spring plate unit at the rejection trigger time.
[0010] Optionally, the conveying mechanism includes a conveyor belt and an explosion-proof motor fixedly installed on one side of the conveyor belt. The conveyor belt includes two pulleys, and the output shaft of the explosion-proof motor is connected to one of the pulleys via a reducer.
[0011] Optionally, the material identification and volume measurement mechanism includes an explosion-proof bracket adjustablely mounted upstream of the conveying mechanism, a high-speed camera fixedly mounted on the explosion-proof bracket, and an intrinsically safe lidar.
[0012] The distance between the material identification and volume measurement mechanism and the spring plate rejection mechanism is adjustable.
[0013] Optionally, the front end of the conveying mechanism is provided with a material spreading device, which includes a frame fixedly installed at the front end of the conveying mechanism and multiple support rods fixedly installed on the frame. Multiple strip-shaped curtains are rotatably installed on the support rods.
[0014] Optionally, the modular spring plate unit further includes a tension spring fixedly installed inside the explosion-proof housing, with the other end of the tension spring fixedly connected to the spring plate.
[0015] Optionally, the spring plate is rotatably connected to the explosion-proof housing via a rotating shaft, and a labyrinth seal is provided at the rotating shaft to prevent dust from entering.
[0016] Optionally, the explosion-proof housing is equipped with an automatic grease injection lubrication structure for injecting grease into the rotating shaft. The automatic grease injection lubrication structure includes a miniature oil cup and a distribution pipeline.
[0017] Optionally, a feedback mechanism is also included, comprising a displacement sensor installed inside the explosion-proof housing and near the spring plate, for detecting the actual operating state of the spring plate and feeding back the detection signal to the control unit.
[0018] Optionally, the control unit includes an explosion-proof programmable logic controller, which is electrically connected to the material identification and volume measurement mechanism, the spring plate rejection execution mechanism, and the conveying mechanism. The control unit receives the category, particle size, volume, and location information of the material to be rejected detected by the material identification and volume measurement mechanism, calculates the rejection parameters according to a preset dynamic matching algorithm, and sends a control command to the spring plate rejection execution mechanism at a preset rejection trigger time.
[0019] On the other hand, this application proposes a dynamic matching spring plate removal method based on multi-dimensional information of coal and gangue, which is applied to the dynamic matching spring plate removal device based on multi-dimensional information of coal and gangue described above. The method includes the following steps:
[0020] Step S1: Lay the material flat
[0021] When the stacked coal gangue is conveyed to the conveyor belt, the material leveling device pushes the material from the high places to the sides or low places, realizing the natural leveling of the stacked material, which facilitates the effective acquisition of coal gangue characteristics and the orderly execution of the rejection mechanism.
[0022] Step S2: Material identification and volume measurement
[0023] Intrinsically safe lidar and high-speed camera detect coal gangue material on the conveyor in real time. The high-speed camera acquires images on the conveyor belt at a fixed frequency. The control unit processes the images in real time and uses the yolact strength segmentation model to detect the type, particle size, and position information of the material. Combined with the width and length of the conveyor belt, the lateral position coordinates X and longitudinal position coordinates Y of the coal gangue on the conveyor belt are determined. The laser point cloud of the material to be removed is divided into triangular meshes to form countless triangular prisms. The precise volume V is then obtained by accumulating the results using the integration method.
[0024] Step S3: Dynamic matching algorithm calculation
[0025] The control unit receives the type, volume, and location of the material, and calculates the rejection trigger time and spring action parameters for each material according to the preset dynamic matching algorithm.
[0026] The core of the dynamic matching algorithm is to adjust the rejection parameters based on the material volume V and particle size H to achieve precise matching, specifically including:
[0027] (1) Material size classification: Coal gangue is divided into multiple grades according to volume and particle size. In this embodiment, it is divided into three grades: small material, medium material and large material. Different material grades correspond to different spring plate action delay parameters and spring plate action number.
[0028] (2) Calculation of theoretical conveying time: Based on the conveying distance L and conveying speed v of the coal gangue, calculate the theoretical conveying time T = L / v for the material to move from the detection point to the optimal ejection point, where L is the distance from the identification and volume measurement mechanism to the action position of the rejection execution mechanism;
[0029] (3) Determination of delay parameters: The delay time includes the total running time T1 of the material identification and volume measurement program, and the time difference T2 between the receiving of the rejection command by the spring plate mechanism and the actual contact of the spring plate with the coal gangue. The calculation formula is as follows: = f(V)= Where V is the volume of coal gangue. and The value range is 0.5-2.0 ms / mm. The value range is 10-50 ms. The correction coefficient is obtained in advance through experimental calibration based on the characteristics of the spring plate assembly itself, as well as the detected material position and running speed. Large materials have large mass and large inertia, requiring a longer action delay to ensure that the spring plate contacts the material at the appropriate time, while small materials require a shorter delay.
[0030] (4) Determining the rejection trigger time: the rejection trigger time of a certain material = ( ),in The time when a material to be rejected arrives at the sampling point of the material identification and volume measurement mechanism is defined as: when the material arrives at the sampling point, the system starts counting, and the count continues until the material reaches the sampling point. At any given moment, the control unit sends a control command to the rejection actuator;
[0031] (5) Determination of action amplitude parameters: The action amplitude parameters of the spring plate include the spring plate extension speed, extension amplitude, and holding time. Larger materials require greater rejection force, therefore the spring plate extension amplitude should be increased, the extension speed should be increased, and the holding time should be prolonged. Smaller materials require correspondingly reduced force. The relationship between the action amplitude parameters and particle size can be expressed as:
[0032] A = g(V&H) = a1 × V + a2 × H
[0033] Where A is the range of motion, and a1 and a2 are preset coefficients;
[0034] Step S4: Issue the rejection instruction
[0035] When the coal gangue material is transported to the action area of the ejector plate removal mechanism, the control unit determines the following based on the calculation result of step S3: if it is material, multiple adjacent ejector plate units are assigned to work together, using a push-type ejection to provide a larger combined force; if it is small or medium-sized material, a single group or a small number of ejector plate units are assigned to strike briefly to correct its landing point and prevent the gangue from being accidentally removed. At the removal trigger moment Tt, a control command is sent to the corresponding removal mechanism. The control command includes parameters such as the duration of the explosion-proof electromagnet being energized and the magnitude of the energized current, so as to achieve different action amplitudes.
[0036] Step S5: Perform the removal action
[0037] The rejection mechanism responds to control commands, and the specific action process is as follows: when the material moves to the optimal ejection point, the control unit outputs a trigger signal, and the explosion-proof electromagnet of the corresponding ejector plate unit is instantly energized, pushing the ejector plate outward to hit the material, causing it to deviate from its original falling trajectory and fall into the gangue collection area. After the explosion-proof electromagnet is energized for a certain period of time, it is de-energized, and the tension spring drives the ejector plate body to return to the initial position, waiting for the next rejection command.
[0038] Throughout the entire rejection process, the movement trajectory of the main body of the spring plate is an arc shape. The linear velocity of its front end is dynamically adjusted according to the particle size of the coal gangue to ensure that large-diameter materials have enough momentum to be rejected, while avoiding small-diameter materials from splashing or breaking due to excessive impact. The labyrinth seal and automatic grease injection lubrication structure ensure that the rotating shaft can rotate flexibly for a long time in a dusty environment.
[0039] Step S6: Feedback and Parameter Correction
[0040] The feedback mechanism detects and eliminates the actual action state of the actuator, while the displacement sensor detects whether the spring plate body has reached the predetermined position. The actual action state signal is fed back to the control unit, which compares the actual action state with the expected action state. If there is a deviation, such as action delay or insufficient amplitude, the correction coefficient of the dynamic matching algorithm is adjusted. and The system performs online corrections to achieve adaptive optimization. At the same time, if abnormal actions are detected multiple times in a row, the control unit issues a fault alarm signal to prompt maintenance.
[0041] In summary, this application includes at least the following beneficial technical effects:
[0042] This application achieves multi-dimensional and accurate perception of coal gangue type, particle size, volume and location by setting up material identification and volume measurement mechanisms, overcoming the shortcomings of traditional rejection devices that rely only on single location information and cannot perceive material volume and thickness.
[0043] The control unit uses a dynamic matching algorithm to determine the delay, amplitude, and number of actions of the spring plate based on multi-dimensional information such as material type, volume, and location. This achieves precise matching between rejection parameters and material characteristics, solving the problem of large gangue not being rejected and small coal being easily mistakenly rejected under a fixed rejection strategy. Attached Figure Description
[0044] Figure 1 Schematic diagram of the coal gangue ejector plate removal device Figure 1 ;
[0045] Figure 2 Schematic diagram of the coal gangue ejector plate removal device Figure 2 ;
[0046] Figure 3This is a path displacement diagram of the gangue being removed;
[0047] Figure 4 A schematic diagram of the spring plate rejection mechanism;
[0048] Figure 5 for Figure 1 A magnified view of a section at point A in the middle;
[0049] Figure 6 for Figure 1 A magnified view of a section at point B in the middle;
[0050] Figure 7 for Figure 2 A magnified view of a section at point C;
[0051] Figure 8 This is a flowchart of the dynamic matching spring plate rejection method.
[0052] Reference numerals: 1. Conveying mechanism; 11. Conveyor belt; 12. Pulley; 13. Explosion-proof motor; 14. Reducer; 2. Material identification and volume measurement mechanism; 21. Explosion-proof bracket; 22. High-speed camera; 23. Intrinsically safe lidar; 3. Spring plate rejection actuator; 31. Explosion-proof housing; 32. Spring plate; 33. Explosion-proof electromagnet; 34. Tension spring; 35. Rotating shaft; 36. Labyrinth seal; 37. Miniature oil cup; 38. Distribution pipeline; 39. Displacement sensor; 4. Material leveling device; 41. Frame; 42. Support rod; 43. Strip curtain; 5. Control unit. Detailed Implementation
[0053] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0054] Device Examples
[0055] like Figures 1 to 2 and Figure 5 as well as Figure 7 As shown, the dynamic matching spring plate rejection device based on multi-dimensional information of coal gangue proposed in this application includes a conveying mechanism 1 for carrying and conveying coal gangue materials. Specifically, the conveying mechanism 1 includes a conveyor belt 11 and an explosion-proof motor 13 fixedly installed on one side of the conveyor belt 11. The conveyor belt 11 includes two pulleys 12. The output shaft of the explosion-proof motor 13 is connected to one of the pulleys 12 through a reducer 14. The running speed of the conveying mechanism 1 is adjusted in real time by the control unit according to the amount of incoming material. The speed range is controlled between 0.5 and 2.0 m / s to ensure that the material is transported smoothly and orderly, providing a stable time reference for subsequent identification and rejection.
[0056] The material spreading device 4 is provided at the front end of the conveying mechanism 1. The material spreading device 4 includes a frame 41 fixedly installed at the front end of the conveying mechanism 1 and multiple support rods 42 fixedly installed on the frame 41. Multiple strip curtains 43 are rotatably installed on the support rods 42. The strip curtains 43 are made of flame-retardant polyurethane material. They rely on their own weight to naturally spread the stacked materials to the sides or low-lying areas, avoiding the material stacking that causes identification obstruction or rejection confusion. This solves the problem of low identification accuracy and inaccurate rejection execution caused by material stacking in the prior art.
[0057] like Figures 1 to 2 and Figure 6 As shown, this embodiment also includes a material identification and volume measurement mechanism 2 located on the upstream side of the conveying mechanism 1. The material identification and volume measurement mechanism 2 is used to acquire information on the type, particle size, volume and location of coal gangue. By fusing image recognition with three-dimensional point cloud, it realizes multi-dimensional information perception of coal gangue, providing a data basis for dynamic matching and rejection parameters, and overcoming the shortcomings of traditional rejection devices that rely only on single location information and cannot perceive material volume and thickness.
[0058] Furthermore, the material identification and volume measurement mechanism 2 includes an explosion-proof bracket 21 that is adjustablely installed upstream of the conveying mechanism 1, a high-speed camera 22 and an intrinsically safe lidar 23 that are fixedly installed on the explosion-proof bracket 21. The high-speed camera 22 is used to acquire material images and uses an instance segmentation model to detect the type, edge and position of the material. The intrinsically safe lidar 23 is used to acquire three-dimensional point cloud data and calculate the material volume through triangular mesh division and integration method to achieve accurate perception of the particle size and volume of the material.
[0059] like Figures 1 to 4 As shown, this embodiment also includes a spring plate rejection actuator 3 located at the end of the conveying mechanism 1. The spring plate rejection actuator 3 includes multiple modular spring plate units arranged along the width direction of the conveying mechanism 1. Each modular spring plate unit includes an explosion-proof housing 31, a spring plate 32 rotatably installed inside the explosion-proof housing 31, and an explosion-proof electromagnet 33. The spring plate 32 is rotatably connected to the output shaft of the explosion-proof electromagnet 33. When the material moves to the optimal ejection point, the explosion-proof electromagnet 33 is energized instantaneously, pushing the spring plate 32 to eject outward around the rotating shaft 35, impacting the material and causing it to deviate from its original falling trajectory and fall into the gangue collection area. Multiple modular spring plate units can be controlled independently or act in concert, solving the problems of poor adaptability of existing rejection devices to wide-particle-size materials, failure to reject large gangue, and easy mis-rejection of small coal.
[0060] Furthermore, the modular spring plate unit also includes a tension spring 34 fixedly installed inside the explosion-proof housing 31. The other end of the tension spring 34 is fixedly connected to the spring plate 32. The tension spring 34 is used to drive the spring plate 32 to return quickly after the explosion-proof electromagnet 33 is de-energized, preparing for the next rejection action and ensuring rejection frequency and continuous operation capability. The spring plate 32 is rotatably connected to the explosion-proof housing 31 through a rotating shaft 35. A labyrinth seal 36 is provided inside the rotating shaft 35 to prevent dust from entering. The labyrinth seal 36 effectively blocks dust from entering the shaft gap in the high humidity and high dust environment downhole through a tortuous path, solving the problem of easy jamming and failure of existing rejection devices under harsh working conditions. An automatic grease injection lubrication structure for injecting grease into the rotating shaft 35 is installed inside the explosion-proof housing 31. The automatic grease injection lubrication structure includes a miniature oil cup 37 and a distribution pipeline 38. The automatic grease injection lubrication structure periodically injects grease into the rotating shaft to ensure long-term flexible rotation of the rotating shaft, reduce maintenance frequency, and improve equipment reliability.
[0061] like Figures 3 to 4 As shown, this embodiment also includes a feedback mechanism, which is installed inside the explosion-proof housing 31 and located near the spring plate 32. The feedback mechanism is used to detect the actual action state of the spring plate 32 and feed back the detection signal to the displacement sensor 39 of the control unit 5. The feedback mechanism compares the actual action state of the spring plate 32 with the expected state. If there is a deviation, the dynamic matching algorithm parameters are corrected online. At the same time, a fault alarm is issued when there are continuous abnormalities, which solves the problems of the rejection action not being able to be controlled in a closed loop and the fault not being able to be self-checked.
[0062] It is worth noting that the distance between the material identification and volume measurement mechanism 2 and the spring plate rejection execution mechanism 3 is adjustable. Larger materials require a longer response preparation time. By adjusting this distance, the rejection response requirements of materials with different particle sizes can be adapted, thereby improving the adaptability and rejection accuracy of the device.
[0063] like Figures 1 to 7 As shown, this embodiment also includes a control unit 5, which is electrically connected to the material identification and volume measurement mechanism 2 and the spring plate rejection execution mechanism 3, respectively. It is used to receive information on the type, particle size, volume and location of coal gangue, calculate rejection parameters according to a preset dynamic matching algorithm, and send control commands to the corresponding modular spring plate unit at the rejection trigger time. The control unit determines the action delay, action amplitude and the number of spring plates to be coordinated according to the volume, particle size and location of the material to be rejected, thereby realizing the dynamic matching of rejection parameters and material characteristics, and solving the problem that the traditional rejection strategy is fixed and cannot adapt to the rejection requirements of materials with different particle sizes.
[0064] Furthermore, the control unit 5 includes an explosion-proof programmable logic controller, which is electrically connected to the material identification and volume measurement mechanism 2, the spring plate rejection actuator 3, and the conveying mechanism 1, respectively. The dynamic matching algorithm includes classifying materials according to volume, calculating the theoretical conveying time, and determining the action delay. = Determine the trigger time for removal. = ( The extension speed, amplitude, and holding time of the spring plate are adjusted according to the size of the material. Large materials are pushed by multiple adjacent spring plates in a coordinated manner, while small and medium materials are tapped by a single set of spring plates for a short time, so as to achieve accurate removal while avoiding excessive impact.
[0065] Method implementation examples, see reference Figure 8 As shown, this application proposes a dynamic matching spring plate removal method based on multi-dimensional coal and gangue information, applied to the aforementioned dynamic matching spring plate removal device based on multi-dimensional coal and gangue information. The method includes the following steps:
[0066] Step S1: Lay the material flat
[0067] When the stacked coal gangue is conveyed to the conveyor belt 11, the material leveling device 4 pushes the material at the high position to the sides or low-lying areas to achieve natural leveling of the stacked material, which facilitates the effective acquisition of coal gangue characteristics and the orderly execution of the rejection mechanism.
[0068] Step S2: Material identification and volume measurement
[0069] The intrinsically safe lidar 23 and high-speed camera 22 detect coal gangue material on the conveyor mechanism 1 in real time. The high-speed camera 22 acquires images on the conveyor belt 11 at a fixed frequency. The control unit processes the images in real time and uses the yolact segmentation model to detect the type, particle size, and position information of the material. Combined with the width and length of the conveyor belt 11, the lateral position coordinates X and longitudinal position coordinates Y of the coal gangue on the conveyor belt 11 are determined. The laser point cloud of the material to be removed is divided into triangular meshes to form countless triangular prisms. The precise volume V is then obtained by accumulating the integrals.
[0070] Step S3: Dynamic matching algorithm calculation
[0071] The control unit receives the type, volume, and location of the material, and calculates the rejection trigger time and spring action parameters for each material according to the preset dynamic matching algorithm.
[0072] The core of the dynamic matching algorithm is to adjust the rejection parameters based on the material volume V and particle size H to achieve precise matching, specifically including:
[0073] (1) Material size classification: Coal gangue is divided into multiple grades according to volume and particle size. In this embodiment, it is divided into three grades: small material, medium material and large material. Different material grades correspond to different spring plate 32 action delay parameters and spring plate action number.
[0074] (2) Calculation of theoretical conveying time: Based on the conveying distance L and conveying speed v of the coal gangue, calculate the theoretical conveying time T = L / v for the material to move from the detection point to the optimal ejection point, where L is the distance from the identification and volume measurement mechanism to the action position of the rejection execution mechanism;
[0075] (3) Determination of delay parameters: The delay time includes the total running time T1 of the material identification and volume measurement program, and the time difference T2 between the receiving of the rejection command by the spring plate mechanism and the actual contact of the spring plate with the coal gangue. The calculation formula is: T2 = f(V) = Where V is the volume of coal gangue. and The preset correction factor. The value range of k is 0.5-2.0 ms / mm, and the value range of k2 is 10-50 ms. The correction coefficient is obtained in advance through experimental calibration based on the characteristics of the spring plate assembly itself, as well as the detected material position and running speed. Large coal gangue has a large mass and large inertia, requiring a longer action delay to ensure that the spring plate contacts the material at the appropriate time, while small coal gangue requires a shorter delay.
[0076] (4) Determining the rejection trigger time: the rejection trigger time of a certain material = ( ),in The time when a material to be rejected arrives at the sampling point of the material identification and volume measurement mechanism is defined as: when the material arrives at the sampling point, the system starts counting, and the count continues until the material reaches the sampling point. At any given moment, the control unit sends a control command to the rejection actuator;
[0077] (5) Determination of action amplitude parameters: The action amplitude parameters of the spring plate include the spring plate extension speed, extension amplitude, and holding time. Larger materials require greater rejection force, therefore the spring plate extension amplitude should be increased, the extension speed should be increased, and the holding time should be prolonged. Smaller materials require correspondingly reduced force. The relationship between the action amplitude parameters and particle size can be expressed as:
[0078] A = g(V&H) = a1 × V + a2 × H
[0079] Where A is the range of motion, and a1 and a2 are preset coefficients;
[0080] Step S4: Issue the rejection instruction
[0081] When the coal gangue material is conveyed to the action area of the ejector plate removal actuator 3, the control unit determines the following based on the calculation result of step S3: If it is a large material, multiple adjacent ejector plate units are assigned to coordinate the action, using a push-type ejection to provide a larger combined force; if it is a medium or small material, a single group or a small number of ejector plate units are assigned to briefly tap it to correct its landing point and prevent the gangue from being accidentally removed. At the moment of removal triggering... Control commands are sent to the corresponding rejection actuators. The control commands include parameters such as the energization time of the explosion-proof electromagnet 33 and the magnitude of the energizing current, so as to achieve different action ranges.
[0082] Step S5: Perform the removal action
[0083] The rejection mechanism responds to control commands, and the specific action process is as follows: when the material moves to the optimal ejection point, the control unit outputs a trigger signal, and the explosion-proof electromagnet 33 of the corresponding ejector plate unit is energized instantly, pushing the ejector plate 32 to eject outward, impacting the material and causing it to deviate from its original falling trajectory and fall into the gangue collection area. After the explosion-proof electromagnet 33 is energized for a certain period of time, it is de-energized, and the tension spring 34 drives the ejector plate 32 to return to its initial position, waiting for the next rejection command.
[0084] Throughout the entire rejection process, the movement trajectory of the main body of the spring plate 32 is an arc shape, and the linear velocity of its front end is dynamically adjusted according to the size of the coal gangue to ensure that large materials have enough momentum to be rejected, while avoiding small materials from splashing or breaking due to excessive impact. The labyrinth seal 36 and the automatic grease injection lubrication structure ensure that the rotating shaft 35 can rotate flexibly for a long time in the dusty environment.
[0085] Step S6: Feedback and Parameter Correction
[0086] The actual motion state of the actuator is detected and eliminated by the feedback mechanism. The displacement sensor 39 detects whether the main body of the spring plate 32 has reached the predetermined position and feeds back the actual motion state signal to the control unit. The control unit compares the actual motion state with the expected motion state. If there is a deviation, such as motion delay or insufficient amplitude, the correction coefficient of the dynamic matching algorithm is adjusted. and The system performs online corrections to achieve adaptive optimization. At the same time, if abnormal actions are detected multiple times in a row, the control unit issues a fault alarm signal to prompt maintenance.
[0087] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.
Claims
1. A dynamic matching spring plate rejection device based on multi-dimensional information of coal gangue, characterized in that, include: Conveying mechanism for carrying and transporting coal gangue materials (1); The material identification and volume measurement mechanism (2) is installed on the upstream side of the conveying mechanism (1). The material identification and volume measurement mechanism (2) is used to obtain information on the type, particle size, volume and location of coal gangue. The spring plate rejection actuator (3) is located at the end of the conveying mechanism (1). The spring plate rejection actuator (3) includes a plurality of modular spring plate units arranged along the width direction of the conveying mechanism (1). Each modular spring plate unit includes an explosion-proof housing (31), a spring plate (32) rotatably installed inside the explosion-proof housing (31), and an explosion-proof electromagnet (33). The spring plate (32) is rotatably connected to the output shaft of the explosion-proof electromagnet (33). The control unit is electrically connected to the material identification and volume measurement mechanism (2) and the spring plate rejection execution mechanism (3), respectively, and is used to receive information on the type, particle size, volume and location of coal gangue, calculate rejection parameters according to the preset dynamic matching algorithm, and send control commands to the corresponding modular spring plate unit at the rejection trigger time.
2. The dynamic matching spring plate removal device based on multi-dimensional coal gangue information according to claim 1, characterized in that, The conveying mechanism (1) includes a conveyor belt (11) and an explosion-proof motor (13) fixedly installed on one side of the conveyor belt (11). The conveyor belt (11) includes two pulleys (12). The output shaft of the explosion-proof motor (13) is connected to one of the pulleys (12) through a reducer (14).
3. The dynamic matching spring plate removal device based on multi-dimensional coal gangue information according to claim 1, characterized in that, The material identification and volume measurement mechanism (2) includes an explosion-proof bracket (21) that can be adjusted and installed upstream of the conveying mechanism (1), a high-speed camera (22) and an intrinsically safe lidar (23) that are fixedly installed on the explosion-proof bracket (21). The distance between the material identification and volume measurement mechanism (2) and the spring plate rejection mechanism (3) is adjustable.
4. The dynamic matching spring plate removal device based on multi-dimensional coal gangue information according to claim 1, characterized in that, The front end of the conveying mechanism (1) is provided with a material spreading device (4). The material spreading device (4) includes a frame (41) fixedly installed at the front end of the conveying mechanism (1) and multiple support rods (42) fixedly installed on the frame (41). Multiple strip curtains (43) are rotatably installed on the support rods (42).
5. The dynamic matching spring plate removal device based on multi-dimensional coal gangue information according to claim 1, characterized in that, The modular spring plate unit also includes a tension spring (34) fixedly installed inside the explosion-proof housing (31), and the other end of the tension spring (34) is fixedly connected to the spring plate (32).
6. The dynamic matching spring plate removal device based on multi-dimensional coal gangue information according to claim 1, characterized in that, The spring plate (32) is rotatably connected to the explosion-proof housing (31) via a rotating shaft (35), and a labyrinth seal (36) is provided inside the rotating shaft (35) to prevent dust from entering.
7. The dynamic matching spring plate removal device based on multi-dimensional coal gangue information according to claim 1, characterized in that, The explosion-proof housing (31) is equipped with an automatic grease injection lubrication structure for injecting grease into the rotating shaft (35). The automatic grease injection lubrication structure includes a miniature oil cup (37) and a distribution pipeline (38).
8. The dynamic matching spring plate removal device based on multi-dimensional coal gangue information according to claim 1, characterized in that, It also includes a feedback mechanism, which includes a displacement sensor (39) installed inside the explosion-proof housing (31) and near the spring plate (32) for detecting the actual action state of the spring plate (32) and feeding back the detection signal to the control unit (5).
9. The dynamic matching spring plate removal device based on multi-dimensional coal gangue information according to claim 1, characterized in that, The control unit (5) includes an explosion-proof programmable logic controller, which is electrically connected to the material identification and volume measurement mechanism (2), the spring plate rejection execution mechanism (3) and the conveying mechanism (1). The control unit (5) receives the category, particle size, volume and position information of the material to be rejected detected by the material identification and volume measurement mechanism (2), calculates the rejection parameters according to the preset dynamic matching algorithm, and sends a control command to the spring plate rejection execution mechanism (3) at the preset rejection trigger time.
10. A dynamic matching spring plate removal method based on multi-dimensional coal and gangue information, applied to the dynamic matching spring plate removal device based on multi-dimensional coal and gangue information as described in any one of claims 1-9, characterized in that, The method includes the following steps: Step S1: Lay the material flat When the stacked coal gangue is conveyed to the conveyor belt (11), the material spreading device (4) pushes the material at the high position to the sides or low-lying areas to achieve natural spreading of the stacked material, which facilitates the effective acquisition of coal gangue characteristics and the orderly execution of the rejection mechanism. Step S2: Material identification and volume measurement The intrinsically safe lidar (23) and high-speed camera (22) detect the coal gangue material on the conveyor mechanism (1) in real time. The high-speed camera (22) collects images on the conveyor belt (11) at a fixed frequency. The control unit processes the images in real time and uses the yolact strength segmentation model to detect the type, particle size and position information of the material. Combined with the width and length of the conveyor belt (11), the lateral position coordinates X and longitudinal position coordinates Y of the coal gangue on the conveyor belt (11) are determined. The laser point cloud of the material to be removed is divided into triangular meshes to form countless triangular prisms. The precise volume V is obtained by accumulating the integrals. Step S3: Dynamic matching algorithm calculation The control unit receives the type, volume, and location of the material, and calculates the rejection trigger time and spring action parameters for each material according to the preset dynamic matching algorithm. The core of the dynamic matching algorithm is to adjust the rejection parameters based on the material volume V and particle size H to achieve precise matching, specifically including: (1) Material size classification: Coal gangue is divided into multiple grades according to volume and particle size. In this embodiment, it is divided into three grades: small material, medium material and large material. Different material grades correspond to different spring plate (32) action delay parameters and spring plate action number; (2) Calculation of theoretical conveying time: Based on the conveying distance L and conveying speed v of the coal gangue, calculate the theoretical conveying time T = L / v for the material to move from the detection point to the optimal ejection point, where L is the distance from the identification and volume measurement mechanism to the action position of the rejection execution mechanism; (3) Determination of delay parameters: The delay time includes the total running time T1 of the material identification and volume measurement program, and the time difference T2 between the receiving of the rejection command by the spring plate mechanism and the actual contact of the spring plate with the coal gangue. The calculation formula is as follows: = f(V)= Where V is the volume of coal gangue. and The preset correction factor. The value range of k is 0.5-2.0 ms / mm, and the value range of k2 is 10-50 ms. The correction coefficient is obtained in advance through experimental calibration based on the characteristics of the spring plate assembly itself, as well as the detected material position and running speed. Large materials have large mass and large inertia, requiring a longer action delay to ensure that the spring plate contacts the material at the appropriate time, while small materials require a shorter delay. (4) Determining the rejection trigger time: the rejection trigger time of a certain material = ( ),in The time when a material to be rejected arrives at the sampling point of the material identification and volume measurement mechanism is defined as: when the material arrives at the sampling point, the system starts counting, and the count continues until the material reaches the sampling point. At any given moment, the control unit sends a control command to the rejection actuator; (5) Determination of action amplitude parameters: The action amplitude parameters of the spring plate include the spring plate extension speed, extension amplitude, and holding time. Larger materials require greater rejection force, therefore the spring plate extension amplitude should be increased, the extension speed should be increased, and the holding time should be prolonged. Smaller materials require correspondingly reduced force. The relationship between the action amplitude parameters and particle size can be expressed as: A = g(V&H) = a1 × V + a2 × H Where A is the range of motion, and a1 and a2 are preset coefficients; Step S4: Issue the rejection instruction When the coal gangue material is transported to the action area of the ejector plate removal actuator (3), the control unit determines the following based on the calculation result of step S3: if it is material, multiple adjacent ejector plate units are assigned to work together, using a push-type ejection to provide a larger combined force; if it is small or medium-sized material, a single group or a small number of ejector plate units are assigned to strike briefly to correct its landing point and prevent the gangue from being accidentally removed. Control commands are sent to the corresponding rejection actuators. The control commands include parameters such as the energization time of the explosion-proof electromagnet (33) and the magnitude of the energizing current, so as to achieve different action ranges. Step S5: Perform the removal action The specific action process of the rejection actuator responding to the control command is as follows: when the material moves to the optimal ejection point, the control unit outputs a trigger signal, and the explosion-proof electromagnet (33) of the corresponding ejector plate unit is energized instantly, pushing the ejector plate (32) to eject outward, hitting the material, causing it to deviate from its original falling trajectory and fall into the gangue collection area. After the explosion-proof electromagnet (33) is energized for a certain period of time, it is de-energized, and the tension spring (34) drives the ejector plate (32) to return to the initial position, waiting for the next rejection command. Throughout the entire rejection process, the movement trajectory of the main body of the spring plate (32) is an arc shape. The linear velocity of its front end is dynamically adjusted according to the particle size of the coal gangue to ensure that large-diameter materials have enough momentum to be rejected, while avoiding small-diameter materials from splashing or breaking due to excessive impact. The labyrinth seal (36) and the automatic grease injection lubrication structure ensure that the rotating shaft (35) can rotate flexibly for a long time in the dusty environment. Step S6: Feedback and Parameter Correction The actual motion state of the actuator is detected and eliminated by the feedback mechanism. The displacement sensor (39) detects whether the main body of the spring plate (32) has reached the predetermined position and feeds back the actual motion state signal to the control unit. The control unit compares the actual motion state with the expected motion state. If there is a deviation, such as motion delay or insufficient amplitude, the correction coefficient of the dynamic matching algorithm is adjusted. and The system performs online corrections to achieve adaptive optimization. At the same time, if abnormal actions are detected multiple times in a row, the control unit issues a fault alarm signal to prompt maintenance.