Coal gangue sorting equipment for narrow roadway in underground mine

Abstract

The application relates to the technical field of coal mining, and discloses a coal and gangue sorting device for narrow underground laneways, which comprises a screening module, a lifting and conveying module, a detection and identification module, a material sorting module and a guide discharging module. The screening module screens raw materials to obtain mixed materials within a certain particle size range, the lifting and conveying module acquires environmental data and calculates lifting length and height, matches corresponding lifting angles and speeds to complete material conveying, the detection and identification module distinguishes gangue and lump coal and extracts position data, the material sorting module realizes accurate sorting of two types of materials based on the position data through sorting plates connected to a sorting frame through sliding, and the two types of materials are output through the guide discharging module. The device has compact structure, is suitable for narrow underground laneway working conditions, realizes efficient and accurate sorting of coal and gangue, improves raw coal quality, reduces production energy consumption, and helps green and efficient coal mining.

Description

Technical Field

[0001] This application relates to the technical field of coal mining, and in particular to a coal gangue sorting device for use in narrow underground roadways. Background Technology

[0002] During coal mining operations, coal gangue, as a major associated impurity, is produced mixed with raw coal. The presence of gangue not only significantly reduces the calorific value of raw coal and affects the quality of coal products, but also substantially increases the overall energy consumption and production costs of coal transportation, washing, and processing. Furthermore, the accumulation of large amounts of unsorted coal gangue easily leads to resource waste and environmental pressure in mining areas, hindering green and efficient coal mining. Therefore, conducting efficient coal gangue sorting operations to remove gangue impurities and purify raw coal materials is a necessary technical step to optimize coal mining processes, improve mineral resource utilization, and reduce production energy consumption.

[0003] Currently, numerous coal and gangue sorting equipment and devices have been developed in the industry, effectively supporting raw coal sorting operations. Among them, existing coal and gangue sorting devices, through optimized matching design of material conveying, identification and detection, and sorting execution structures, can accurately identify coal lumps and gangue materials in raw coal and complete automated sorting operations based on differences in material properties.

[0004] Underground roadways are generally characterized by narrow spaces, limited roadway cross-sectional dimensions, restricted working space, and limited space for equipment transfer and installation. However, the existing coal and gangue sorting devices adopt an integrated large-volume layout structure, with loose arrangement of functional modules, large overall equipment size, and insufficient structural compactness. This makes it difficult to complete the installation and stable operation in the narrow underground space and cannot adapt to the working scenario of narrow underground roadways. Summary of the Invention

[0005] To adapt to the working conditions of narrow underground roadways, this application provides a coal and gangue sorting device for narrow underground roadways, adopting the following technical solution: A coal gangue sorting device for narrow underground roadways includes a screening module, a hoisting and conveying module, a detection and identification module, a material sorting module, and a guiding and discharging module; The screening module screens the raw materials to obtain a mixture of materials with a certain particle size range. The material enters the lifting and conveying module. The lifting and conveying module acquires environmental data, calculates the lifting length and lifting height based on the environmental data, matches the corresponding lifting angle and lifting speed based on the lifting length and lifting height, and lifts and conveys the coal gangue from the detection and identification module to the material sorting module based on the lifting angle and lifting speed. An inspection and identification module is installed on the conveying path of the lifting and conveying module to distinguish between gangue and lump coal, and to extract their respective spatial location data and dimensions; The material sorting module, located at the unloading end of the lifting and conveying module, includes a sorting frame and a sorting plate driven by a telescopic component, wherein the sorting plate is slidably connected to the sorting frame; The guiding and discharging module includes a first conveying module and a second conveying module; The telescopic component controls the sliding distance and speed of the sorting plate according to the position data: when the sorting plate is in the retracted state, the gangue passes through the sorting plate and falls to the first conveying module; when the sorting plate is in the extended state, it receives the lump coal and guides it to the second conveying module.

[0006] By adopting the above technical solutions, the lifting and conveying module can adaptively calculate and match the lifting length, height, conveying angle, and speed based on the roadway environment data. It can achieve stable conveying within a limited space by combining the characteristics of coal gangue materials, avoiding problems such as material slippage or insufficient conveying efficiency. At the same time, through the coordinated cooperation of the detection and identification module and the material sorting module, the sliding distance and speed of the sorting plate can be dynamically controlled based on the material position data, realizing accurate and efficient separation of coal blocks and gangue, greatly improving sorting accuracy and operating efficiency, effectively removing gangue impurities from raw coal, and improving the calorific value and product quality of raw coal.

[0007] Furthermore, the first conveying module and the second conveying module are arranged in parallel and located below the lifting conveying module, and the height difference between the first conveying module and the second conveying module is within a preset height difference range; Alternatively, the first conveying module and the second conveying module are located at the same height and are arranged parallel to each other on both sides along the direction of lifting and conveying.

[0008] By adopting the above technical solution, the parallel arrangement of the first conveying module and the second conveying module, whether they are parallel in the same direction along the lifting and conveying direction with the height difference controlled within a preset range, or symmetrically parallel on both sides along the lifting direction at the same height, can make the overall equipment uniformly stressed and the load distribution reasonable, effectively reducing the off-center load, vibration and impact during operation, and helping to maintain the vibration balance and operational stability of the equipment.

[0009] Furthermore, the conveyor line of the lifting conveyor module is set as a smooth conveyor line. The inlet point of the smooth conveyor line is lower than the outlet point. A scraper is set below the smooth conveyor line to scrape off the material adhering to the surface of the smooth conveyor line. The first and second conveyor lines of the material sorting module have the same structure, and both have uniformly distributed anti-slip partitions on their surfaces. The length direction of the anti-slip partitions is perpendicular to the conveying direction of the material sorting module.

[0010] By adopting the above technical solutions, the smooth conveyor line of the improved conveying module, combined with the scraper structure, can effectively scrape off the wet coal gangue material adhering to the surface of the conveyor line, avoiding the problems of reduced conveying efficiency, equipment overload and blockage caused by material adhesion, and ensuring the continuous and stable conveying process. At the same time, the anti-slip baffles installed on the conveyor line of the material sorting module can increase the friction between the material and the conveying surface, preventing the coal gangue from slipping, rolling or deviating during the conveying process.

[0011] Furthermore, the lifting and conveying distance is calculated based on the lifting length and lifting height, and the conveying time is calculated based on the lifting and conveying distance and lifting speed; after the detection and identification module extracts the first position data and the second position data, it sends the first position data and the second position data to the material sorting module after a delay in conveying time; The material sorting module matches the corresponding sorting plates based on the first position data and controls the telescopic component to keep the sorting plates in a retracted state; the material sorting module matches the corresponding sorting plates based on the second position data, calculates the proportion of the sorting plates involved, controls the telescopic component to extend the corresponding sorting plates, and retracts them after receiving the lump coal.

[0012] By adopting the above technical solution, the conveying time is first calculated by increasing the conveying distance and speed, and the detection and identification data is sent with a delay. This accurately matches the material conveying rhythm with the sorting action sequence, ensuring that the control signal is in place synchronously when the coal gangue arrives at the sorting position. This effectively avoids missorting and missed sorting problems caused by conveying delays or advances. At the same time, the corresponding sorting plate is matched based on the material position data, and the extension of the sorting plate is controlled by the judgment condition of the material coverage ratio (such as 10%-20%). Only 1-2 sorting plates need to be extended to cover the key area of ​​the material, which greatly reduces the number and frequency of sorting plate actions.

[0013] Furthermore, the detection and identification module is located at the lower end of the conveying position of the lifting and conveying module.

[0014] By adopting the above technical solution, the detection and identification module is arranged at a low position, thereby reducing the overall height and adapting to the low height requirements of narrow alleyways.

[0015] Furthermore, the material sorting module is located at the high end of the conveying position of the lifting and conveying module; upon initial power-on, all sorting plates automatically find the zero point position; during a certain preset time each work period, in the idle state, at a randomly selected time, each sorting unit of the sorting plate automatically finds the zero point.

[0016] By adopting the above technical solution, the height requirements of the material sorting module are met, adapting to the low height requirements of narrow aisles. This height is the highest point of the entire system, and this highest point must be lower than the allowable passage height of the aisle; generally, the allowable height of the aisle does not exceed 2.8 meters.

[0017] Furthermore, it also includes a moving module, which comprises an installation frame and lateral and longitudinal moving components. The screening module, lifting and conveying module, detection and identification module, material sorting module, and guiding and discharging module are all installed on the installation frame. The lateral moving component drives the installation frame to move as a whole, so as to realize the overall movement of the coal gangue sorting equipment in the roadway. Each module is equipped with a corresponding longitudinal moving component to realize the adaptive height adjustment of each module.

[0018] By adopting the above technical solution, the mobile module integrates all functional modules into the installation frame, which can drive the entire equipment to move flexibly in the roadway. At the same time, it can achieve differentiated adjustment according to the working conditions: when the equipment is in operation, the position of each module is stable, ensuring the stable operation of coal gangue transportation, identification and sorting processes; during the equipment transfer process, the height of each module can be adaptively adjusted according to the undulation of the roadway floor, effectively adapting to the complex environment of uneven underground road surface, improving the equipment's passability and on-site applicability, and reducing the difficulty of roadway transfer and layout operations.

[0019] Furthermore, a flexible connection structure is provided between the screening module, the lifting and conveying module, the detection and identification module, the material sorting module, and the guiding and discharging module; the flexible connection structure includes a flexible connector, a hinged support, and an elastic buffer; the hinged support is assembled at the docking end of two adjacent modules, the flexible connector is sleeved at the docking gap, and the elastic buffer abuts against the adjacent modules respectively.

[0020] By adopting the above technical solution, the various modules are flexibly connected using a flexible connection structure, which can maintain relative stability when the equipment moves forward, and ensure that each component can be quickly positioned and adjusted to the working state after the equipment moves.

[0021] Furthermore, the process of matching the lifting angle and lifting speed according to the lifting length and lifting height is as follows: A database of pre-stored downhole equipment parameters containing multiple sets of lifting height, lifting length, lifting angle, and lifting speed parameters is retrieved, and the database is traversed to match the real-time obtained lifting height and lifting length. When a matching parameter exists in the database, the corresponding lifting angle is directly retrieved. When no matching parameter exists, the reference lifting height, reference lifting length, and reference lifting angle closest to the parameters in the database are selected, and the ratio of the lifting height to the reference lifting height (height ratio) and the ratio of the lifting length to the reference lifting length (length ratio) are calculated respectively. Compensation calculations are performed based on the height ratio, length ratio, and reference lifting angle to obtain the final lifting angle. The final lifting angle is positively correlated with the height ratio, negatively correlated with the length ratio, and positively correlated with the reference lifting angle.

[0022] By adopting the above technical solution, a suitable lifting angle can be quickly calculated or matched according to the actual lifting height and lifting length of the underground roadway, and the lifting speed can be accurately determined based on this angle, achieving efficient adaptation of conveying parameters to the working conditions of the confined underground space. Relying on the pre-built underground equipment database, the lifting angle can be quickly determined by directly matching existing parameters, simplifying the on-site debugging process. In the absence of direct matching data, the final lifting angle that fits the actual working conditions can be accurately corrected through compensation calculations of height ratio, length ratio, and benchmark lifting angle, ensuring a high degree of matching between the lifting angle and the roadway space conditions and the coal gangue material conveying requirements.

[0023] By adopting the above technical solution, when the material particle size is large, the sorting plate can effectively cover the sorting area of ​​large particles to avoid missed sorting; when the material particle size is small, the set ratio can be reduced to reduce unnecessary sorting plate operation frequency and reduce equipment vibration and energy consumption. Attached Figure Description

[0024] Figure 1 This is a structural diagram of a coal gangue sorting device used in narrow underground tunnels.

[0025] Figure 2 This is a diagram showing the sorting steps of a coal gangue sorting equipment.

[0026] Reference numerals: 1. Screening module; 2. Lifting and conveying module; 3. Detection and identification module; 4. Material sorting module; 5. Guided discharge module; 6. First conveying module; 7. Second conveying module; 8. Sorting plate; 9. Anti-slip partition. Detailed Implementation

[0027] The embodiments of this application are described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0028] This application discloses a coal gangue sorting device for narrow underground roadways, referring to... Figure 1 and Figure 2 It is a typical implementation method adapted to the confined space conditions in underground mines. The overall structure is compact, and the screening module 1, the lifting and conveying module 2, the detection and identification module 3, the material sorting module 4 and the guiding and discharging module 5 are arranged in sequence along the material flow direction. The modules work together to achieve efficient sorting and quality improvement of coal gangue in underground mines.

[0029] Screening module 1, as the front-end pre-processing unit of the entire sorting equipment, receives the mixed raw materials of coal and gangue produced from the underground working face and completes the grading and screening operation using a built-in explosion-proof screening mechanism. This module screens the raw materials according to a preset particle size threshold, intercepting and separating large pieces, lumps, and fine coal dust that exceed the particle size limit, and only conveying the coal and gangue mixture with particle sizes within the specified range downstream. By standardizing the particle size specifications of the materials through the pre-screening process, it can prevent large-sized materials from clogging the subsequent conveying, identification, and sorting mechanisms, and also reduce the interference of fine coal dust on the detection and identification module, ensuring the continuous and stable operation of the entire process. The mixed materials with a certain particle size range after screening are smoothly conveyed to the feed end of the hoisting and conveying module 2 through the guide plate to complete the material pre-processing process.

[0030] The hoisting and conveying module 2 is the main functional unit adapted to narrow underground roadways. It is used to transport the screened coal and gangue mixture along the roadway space to the detection and identification module 3 and the material sorting module 4. The hoisting and conveying module 2 is equipped with a roadway environment acquisition unit, such as a laser rangefinder, a contour scanning device, and an inclination sensor, which can acquire environmental data of the underground roadway in real time, including parameters such as roadway cross-sectional dimensions, equipment installation space limitations, roadway slope, and available length of the conveying path. Based on this environmental data, the module's control unit calculates the hoisting length and hoisting height suitable for the roadway space, that is, the horizontal projection length and vertical hoisting height of the material conveying path, ensuring that the overall size of the conveying mechanism does not exceed the roadway space limitations. The control unit matches the lifting angle and speed to the appropriate working conditions based on the calculated lifting length and height. This matching process needs to be optimized in conjunction with the characteristics of the coal gangue material: when the coal gangue particles are large, the allowable upward tilt angle of the conveyor belt needs to be appropriately reduced to prevent large particles from sliding or rolling down due to excessive tilt angle; when the particle size is small (such as fine powder or small particles), the allowable conveying tilt angle can be appropriately increased to shorten the conveying length and adapt to the installation requirements of confined spaces. Simultaneously, to prevent material slippage, the larger the particle size, the higher the minimum conveying speed required to prevent slippage; the smaller the particle size, the lower the minimum conveying speed required to maintain a non-slipping state. Therefore, the lifting speed can be dynamically adjusted according to the particle size characteristics of the material to avoid slippage or material backflow. After determining the lifting angle and speed, the conveyor belt of the lifting and conveying module 2 runs at the set angle and speed, stably lifting and conveying the coal gangue mixture from the location of the detection and identification module 3 to the material sorting module 4, achieving smooth conveying within the confined space and avoiding problems such as material blockage and slippage.

[0031] The detection and identification module 3 is installed in the conveying path of the hoisting and conveying module 2 to perform online detection, identification, and positioning of the coal and gangue mixture during conveying, providing precise control basis for subsequent sorting operations. In this embodiment, the detection and identification module 3 is arranged at the lower end of the conveying module 2, thereby reducing the overall equipment height and adapting to the low height requirements of narrow tunnels. The detection and identification module 3 adopts X-ray transmission identification technology. The identification device is installed horizontally above the hoisting and conveying module 2 and can collect material density, grayness, and other physical property data in real time. Based on the difference in physical properties between coal and gangue, it distinguishes gangue from lump coal. At the same time, the device records the position information of the two types of materials on the hoisting and conveying module 2. The position of gangue is extracted to obtain the first position data, and the position of lump coal is extracted to obtain the second position data. After processing, the data is transmitted to the control unit of the material sorting module 4, providing timing and position references for the action control of the sorting plate 8.

[0032] The material sorting module 4 is located at the highest end of the lifting and conveying module 2 and is the core execution unit for achieving precise separation of coal gangue. The sorted materials are conveyed to different discharge channels via the guide discharge module 5. The guide discharge module 5 includes a first conveying module 6 and a second conveying module 7, both of which are conveyor belts. The material sorting module 4 includes at least one sorting unit. Each sorting unit consists of a fixed sorting frame, a sliding sorting plate 8, and a telescopic drive component. The fixed sorting frame is installed at the highest end of the lifting and conveying module 2 to provide sliding guidance for the sorting plate 8. One end of the sorting plate 8 faces the highest end of the lifting and conveying module 2 and can slide on the sorting frame in a direction toward or away from the highest end. The telescopic component can be driven by an explosion-proof motor, an explosion-proof electric push rod, or pneumatic drive. One end is fixed to the sorting frame, and the other end is connected to the sorting plate 8. It is used to drive the sorting plate 8 to slide and precisely control the sliding distance and speed of the sorting plate 8 to adapt to the receiving requirements of materials with different particle sizes. During the sorting operation, the material sorting module 4 receives position data from the detection and identification module 3 and controls the sorting plate 8 to perform corresponding actions: When gangue reaches the corresponding position, the sorting plate 8 slides away from the highest point based on the first position data, and is in a retracted state. At this time, the gangue on the conveyor belt is not caught by the sorting plate 8 and falls directly into the first conveying module 6 below, completing the separation of gangue; when lump coal reaches the corresponding position, the sorting plate 8 slides towards the highest point based on the second position data, and is in an extended state. The end of the sorting plate 8 extends into the material conveying path, catches the raw coal, and slides it along the sorting plate 8 into the second conveying module 7, realizing the separate conveying of raw coal. Through the above actions, the precise separation of coal lumps and gangue can be achieved. The two types of materials enter different conveyor belts and are then conveyed to the corresponding discharge points by the guide discharge module 5, completing the sorting operation.

[0033] At the discharge ends of the first conveying module 6 and the second conveying module 7, the sorted raw coal and gangue are guided to different conveying systems through structures such as guide chutes and diversion baffles, so as to realize the orderly conveying of sorted materials, avoid material mixing problems, and ensure the continuity of sorting operations.

[0034] The equipment in this embodiment has a compact overall structure, and each module works together to adapt to the space constraints of narrow underground roadways. At the same time, through adaptive matching of conveying parameters and precise linkage of detection, identification and sorting actions, it achieves efficient and stable sorting of coal gangue, which can effectively remove gangue impurities from raw coal, improve the calorific value and product quality of raw coal, reduce energy consumption in subsequent washing and processing, and help optimize the green and efficient coal mining process.

[0035] In this embodiment, considering the limited space in narrow underground roadways, the uneven roadway floor, and the need for frequent equipment relocation, this coal gangue sorting equipment is additionally equipped with a mobile module to achieve overall equipment transfer, location adjustment, and adaptive height adjustment of each functional module, fully adapting to complex underground road conditions.

[0036] The mobile module is divided into an installation frame, a lateral movement component, and a longitudinal movement component. The installation frame is made of high-strength steel welded together, with high overall structural rigidity and load-bearing capacity, serving as the load-bearing base for the entire equipment. The screening module 1, lifting and conveying module 2, detection and identification module 3, material sorting module 4, and guiding discharge module 5 are sequentially assembled onto the installation frame according to the material conveying flow direction using fasteners. This achieves an integrated layout of all functional modules, which not only reduces the overall space occupied by the equipment and meets the installation requirements of narrow aisles, but also ensures the uniformity of the foundation installation positions of each module.

[0037] The lateral movement component is the overall walking mechanism of the equipment. It can utilize explosion-proof underground wheelsets, tracked walking mechanisms, or other drive structures adapted to the explosion-proof requirements of underground coal mines. The entire lateral movement component is fixedly installed at the bottom of the mounting frame. Under power drive, the lateral movement component can synchronously move and turn the mounting frame and all functional modules on the frame, completing long-distance relocation and short-distance fine-tuning of the entire coal gangue sorting equipment within the roadway, meeting the layout requirements of different underground working areas. Simultaneously, each functional module—screening module 1, hoisting and conveying module 2, detection and identification module 3, material sorting module 4, and guiding and discharging module 5—is independently equipped with a set of longitudinal movement components. These longitudinal movement components can employ explosion-proof electric push rods, hydraulic lifting outriggers, or other lifting drive components. Their lower ends are connected to the mounting frame, and their upper ends support individual functional modules, enabling independent vertical lifting and lowering of the corresponding modules, thus achieving individual adaptive adjustment of the installation height of each module.

[0038] This mobile module has two working modes: operation locking and adaptive transfer. When the equipment arrives at the designated working position and enters the normal coal gangue sorting operation state, the lateral moving component stops running and performs mechanical locking, and the longitudinal moving component also maintains the positioning and locking state. The relative horizontal position and vertical height of all functional modules are completely fixed. The material conveying channels, detection stations and sorting stations between modules maintain standard posture, ensuring the stable and continuous operation of the entire process, including raw coal screening, material lifting and conveying, coal gangue detection and identification, accurate sorting and guided discharge, and eliminating problems such as material spillage, identification deviation and sorting failure caused by module displacement. When the equipment needs to be moved or relocated within the tunnel, the locking structures of the lateral and longitudinal components are released, and the lateral moving component drives the entire machine forward. During the movement, the longitudinal moving component can sense the rise and fall of the tunnel floor in real time and dynamically adjust the vertical height of the corresponding module according to the road surface difference, so that each module always maintains a stable posture. This effectively avoids equipment tilting, component collisions, and movement jamming caused by floor protrusions or depressions, significantly improving the equipment's ability to travel on uneven underground roads and its environmental adaptability, and greatly reducing the operational difficulty and manual labor intensity of underground equipment relocation and on-site installation.

[0039] Because the equipment is movable as a whole, and each module can be independently raised, lowered, and adjusted, slight relative displacements and angular deflections inevitably occur between adjacent modules. To ensure continuous material conveying, reliable equipment docking, and rapid resetting after movement, a flexible connection structure is uniformly installed between the adjacent docking surfaces of the screening module 1, lifting and conveying module 2, detection and identification module 3, material sorting module 4, and guiding and discharging module 5. This flexible connection structure consists of three parts: a flexible connector, a hinged support, and an elastic buffer. These three types of components work together to adapt to changes in shape and position during equipment movement and adjustment.

[0040] The hinged supports are fixedly installed in pairs at the docking ends of two adjacent functional modules, using a pin-hinged structure. This allows for small-angle rotation and slight radial offset between adjacent modules, compensating for angular deviations and positional misalignments during module lifting and equipment movement, and preventing stress and component damage caused by deformation in rigid docking structures. Flexible connectors are made of wear-resistant, tear-resistant rubber or flexible canvas sleeves, which are fitted over the material docking gap between adjacent modules. This ensures a sealed connection between material channels for upstream and downstream processes, preventing coal gangue and fine coal dust from spilling from the docking gap and improving the underground working environment. Furthermore, their elastic deformation capacity counteracts relative displacement between modules, ensuring unobstructed material transport throughout the process. Elastic buffers, made of highly elastic rubber pads or miniature shock-absorbing springs, are evenly distributed and abut against the sidewalls and docking faces of adjacent modules. When the equipment moves bumpily in the tunnel or the modules sway slightly, the elastic buffers effectively absorb vibration and cushion impact, reducing the impact of vibration on precision workstations such as detection, identification, and accurate sorting.

[0041] Thanks to the coordinated action of the entire flexible connection structure, during the entire process of equipment forward transport and movement, even with bumpy roads and dynamic height adjustments of each module, adjacent functional modules can maintain a relatively stable docking state, ensuring uninterrupted material transport and no shifting of workstations. Once the equipment has been transported to the target location and its height leveled, the articulated support, relying on its own limiting structure and elastic buffer, uses the rebound force to guide all modules to quickly return to the preset standard position, achieving precise alignment. The equipment can quickly switch to normal working status without complex debugging, effectively shortening the preparation time after relocation and improving the overall work efficiency of underground coal gangue sorting operations.

[0042] In this embodiment, the first conveying module 6 and the second conveying module 7, which are respectively set at the discharge end of the material sorting module 4 for conveying gangue and lump coal, adopt a compact layout adapted to the narrow underground roadway space. Specifically, they include two selectable implementation structures to balance space occupation, operational stability and material diversion effect, which are described in detail below: Implementation method 1: Arranged parallel to the lifting and conveying direction, with a preset height difference. In this embodiment, the first conveying module 6 and the second conveying module 7 are arranged in parallel and located below the lifting conveying module 2. The material conveying direction is the same, and the height difference between the two is controlled within a preset height difference range.

[0043] Specifically, the lifting conveying direction is the main direction in which coal gangue material is transported from the detection and identification module 3 to the material sorting module 4. Two conveyor belts are arranged parallel to each other along this direction: one conveyor belt is set at the lower position and the other at the higher position. The height difference between the two is preset according to the net height of the underground roadway, the sliding stroke of the sorting plate 8, and the particle size characteristics of the material, for example, a reasonable range of 0~300mm. This height difference is sufficient to ensure that material mixing and splashing do not occur during the process of gangue falling and raw coal sliding in, while also avoiding an excessive height difference that would cause the overall height of the equipment to exceed the roadway space limit.

[0044] In actual operation, when the sorting plate 8 is in the retracted state, the gangue falls directly from the end of the lifting and conveying module 2 to the lower first conveying module 6; when the sorting plate 8 is extended, the raw coal slides down along the sorting plate 8 to the higher second conveying module 7. The height difference effectively avoids the intersection of the conveying paths of the two types of materials, ensuring the purity of the sorted material. At the same time, the loads of the two conveying modules are distributed in the same direction, making the overall stress on the equipment more uniform, which helps to reduce off-center vibration during operation and improve the operational stability of the equipment.

[0045] Implementation Method 2: Arranged at the same height, parallel to each other on both sides along the lifting and conveying direction. In this embodiment, the first conveying module 6 and the second conveying module 7 are set at the same horizontal height and are arranged on both sides of the equipment along the direction of lifting and conveying, and the two are in a symmetrical and parallel state.

[0046] Specifically, the upper surfaces of the two conveying modules are at the same elevation and are symmetrically arranged on the left and right sides along the lifting and conveying direction. The distance between them is set according to the width of the conveying modules, the particle size of the material, and the receiving range of the sorting plate 8. For example, it is controlled to be 1 to 1.5 times the width of the conveying modules, which ensures that the gangue and raw coal fall into the conveying modules on both sides respectively, without excessively increasing the overall width of the equipment. In this arrangement, when the sorting plate 8 retracts, the gangue falls directly to the first conveying module 6 on one side of the equipment; when the sorting plate 8 extends, the raw coal slides along the sorting plate 8 into the second conveying module 7 on the other side of the equipment. The arrangement at the same height can significantly reduce the overall height of the equipment, which is suitable for working conditions where the net height of the underground roadway is insufficient.

[0047] Meanwhile, the symmetrical arrangement on both sides of the structure distributes the load of the two conveyor belts on both sides of the equipment, making the center of gravity of the equipment closer to the central axis. During operation, the load on both sides is symmetrical, resulting in better vibration balance. This can effectively reduce the swaying and off-center loading of the equipment and lower the stability requirements of the underground installation foundation. Furthermore, with the two conveyor belts at the same height, the installation and maintenance of the drive mechanism and rollers are more convenient. It also facilitates the extension of the chutes of the subsequent guide discharge module 5 to the discharge systems on both sides of the roadway, avoiding the intersection of conveying paths and further improving the adaptability of the equipment in the confined space underground.

[0048] In actual underground applications, the two layout methods mentioned above can be flexibly selected according to the specific dimensions of the roadway: when the roadway width is limited but the height is relatively sufficient, the parallel layout with height difference on both sides of Implementation Method 1 is preferred; when the roadway height is limited but the width is relatively sufficient, the layout on both sides at the same height of Implementation Method 2 is preferred, thereby maximizing the installation space for adapting to narrow underground roadways and ensuring stable operation of the equipment.

[0049] In this embodiment, to adapt to the complex working conditions of underground mining, which are characterized by dampness, high dust levels, and easy adhesion of coal gangue, and to ensure the stability and reliability of the conveying process, the conveying line of the conveying module 2 and the material sorting module 4 is improved. Specific details include the following: The smooth conveyor line and scraper structure of the lifting conveyor module 2 are improved. The conveyor line of the lifting conveyor module 2 adopts a smooth conveyor line design, specifically a smooth flame-retardant and anti-static rubber conveyor belt. Its surface has no extra protrusions or grooves, and the whole is flat and smooth, which is suitable for the installation requirements of narrow underground tunnels and is also easy to clean up adhering materials.

[0050] Considering that raw coal and gangue in the mine often contain moisture and fine powder, which easily adhere to the surface of the conveyor belt and form material residue, leading to problems such as reduced conveying efficiency, drum slippage, conveyor belt deviation and increased local wear, in this embodiment, a scraper is installed below the return section of the smooth conveyor line, near the tail drum.

[0051] The scraper blade is made of wear-resistant polyurethane and is fixed in place by an adjustable bracket. Its working surface forms a contact angle of 30° to 45° with the conveyor belt surface. The contact pressure between the scraper blade and the conveyor belt can be adjusted by adjusting the bracket to ensure tight contact. When the conveyor belt is running, the scraper blade can thoroughly remove damp coal slurry and fine powder materials adhering to the conveyor belt. The scraped material is collected through the guide chute below to the feed end of screening module 1 or a dedicated collection box, preventing material residue accumulation. This ensures the cleanliness and efficiency of the conveyor line, reduces equipment overload and wear caused by material adhesion, lowers the frequency of manual cleaning underground and reduces maintenance risks, and is suitable for long-term continuous underground operations.

[0052] Structure of anti-slip partition 9 on material sorting module 4 conveyor line: The first conveyor line (gangue conveyor line) and the second conveyor line (raw coal conveyor line) of the material sorting module 4 adopt the same structural design. Both are flame-retardant and anti-static rubber conveyor belts, which facilitates unified management and maintenance of underground spare parts, reduces equipment operation and maintenance costs, and ensures that the conveying speed and load-bearing capacity of the two conveyor lines are consistent, avoiding material conveying instability caused by differences in equipment performance.

[0053] To prevent the sorted coal gangue from slipping and rolling during transportation, especially when the conveyor line has a certain angle of inclination or the material particle size is small, uniformly distributed anti-slip baffles 9 are installed on the surfaces of both conveyor lines. The anti-slip baffles 9 are rubber protrusions integrally vulcanized with the conveyor belt material. Their length direction is perpendicular to the conveying direction of the material sorting module 4, that is, arranged along the transverse direction of the conveyor belt. The height of the baffles is set to 10mm~30mm according to the material particle size, and the spacing between the baffles is optimized to 50mm~150mm based on the average particle size of the material and the conveying speed, ensuring that a stable material carrying area can be formed on each section of the conveyor line.

[0054] In actual operation, the anti-slip baffle 9 can prevent materials from sliding or getting stuck due to the influence of conveying speed or inclination angle, avoid secondary mixing of raw coal and gangue during the conveying process, and ensure the purity of the sorted materials. At the same time, the evenly distributed baffles can make the materials more evenly distributed on the conveyor belt, reduce the problem of uneven load on the conveyor belt caused by local material accumulation, improve the stability of equipment operation, and further adapt to the continuous operation requirements under complex underground working conditions.

[0055] In this embodiment, to achieve precise timing synchronization between the detection and identification module 3 and the material sorting module 4, while reducing the frequency of the sorting plate 8's operation, lowering equipment vibration, and improving the equipment's operational stability in narrow underground tunnels, the equipment adopts a timing synchronization control and intelligent linkage control scheme for the sorting plate 8. Specific implementation details are as follows: The control unit of the lifting conveyor module 2 calculates the lifting and conveying distance of the material based on the determined lifting length (i.e., the horizontal projection length of the material conveying path) and lifting height (i.e., the vertical lifting height of the material conveying path). This distance is the actual length of the conveyor belt's conveying path, which can be calculated using the Pythagorean theorem: L = √(lifting length). 2 +Increase Height 2 The control unit, in conjunction with the preset lifting speed v, calculates the conveying time t=L / v required for the material to be conveyed from the detection and identification module 3 to the material sorting module 4.

[0056] The detection and identification module 3 is located at the front end of the hoisting and conveying module 2. When the coal and gangue mixture passes through the detection and identification module 3, the system not only distinguishes between gangue and lump coal, but also extracts the position information of the two types of materials on the conveyor belt, generating corresponding first position data and second position data. It should be noted that the position data here is not the coordinates of a single center point of the material, but rather the coverage area of ​​the material on the conveyor belt, including the starting position, ending position, and lateral width of the material, which fully represents the area occupied by the coal or gangue lump on the conveyor belt.

[0057] To avoid mis-sorting and missed sorting caused by misalignment between the sorting action and the material conveying sequence, the system employs a delayed transmission mechanism: after the detection and identification module 3 generates position data, it does not immediately send it to the material sorting module 4. Instead, it waits for the calculated conveying time t before synchronously sending the first and second position data to the material sorting module 4. At this time, the material is precisely conveyed to the corresponding position in the material sorting module 4, and the action command of the sorting plate 8 perfectly matches the arrival time of the material, ensuring accurate response of the sorting action.

[0058] After receiving the delayed location data, the material sorting module 4 executes different control logic according to the material type. By determining the material coverage ratio, it reduces the invalid actions of the sorting plate 8 and lowers the equipment vibration.

[0059] Gangue sorting control: When the material sorting module 4 receives the first location data (the area covered by gangue), it first matches the sorting plate 8 corresponding to that area, that is, the sorting plates 8 arranged along the conveying direction and located within the gangue coverage area. Then, it controls the telescopic components corresponding to these sorting plates 8 to keep the sorting plates 8 in a retracted state. At this time, when the gangue is conveyed to the sorting module, there is no sorting plate 8 extending to receive it, and it will fall directly to the first conveying module 6 below, completing the separation of gangue.

[0060] Lump coal sorting control: When the material sorting module 4 receives the second location data (the coverage area of ​​raw coal), it first matches the sorting plate 8 corresponding to that coverage area. The system calculates the proportion of the overlap between the raw coal coverage area and each corresponding sorting plate 8 to the width of that sorting plate 8, i.e., the "percentage of the portion of the sorting plate 8 involved". In this embodiment, the preset threshold (set percentage) for this percentage is 10%-20%, for example, it can be set to 15%.

[0061] If the proportion of raw coal covered by a sorting plate 8 is greater than a preset proportion, it indicates that the sorting plate 8 is within the effective receiving area of ​​the raw coal. In this case, the corresponding telescopic component is controlled to drive the sorting plate 8 to extend. If the proportion is less than the preset value, the extension action is not triggered. Typically, a piece of raw coal will only cover 1-2 sorting plates 8 with the proportion exceeding the preset value, so only a small number of sorting plates 8 need to be extended to complete the receiving of the raw coal. After the sorting plate 8 extends, it smoothly receives the raw coal and guides it to the second conveying module 7. After the conveying is completed, the telescopic component drives the sorting plate 8 to quickly retract, returning to its initial state, preparing for the next sorting action.

[0062] This control method based on the material coverage ratio avoids the frequent actions caused by the simultaneous extension of the sorting plates 8 in all corresponding intervals in the traditional solution, which greatly reduces the frequency of the sorting plates 8's actions, thereby reducing vibration and impact during equipment operation, reducing component wear, extending equipment service life, and also improving the stability and reliability of equipment operation in narrow underground tunnels.

[0063] In this embodiment, the control unit of the hoisting and conveying module 2 adopts a three-level parameter determination scheme of "basic calculation + database matching + compensation correction" to achieve precise matching of hoisting angle and hoisting speed, taking into account both the space constraints of underground roadways and the stability requirements of material conveying. The specific implementation details are as follows: Based on previously acquired underground roadway environmental data, the control unit has calculated the required lifting height (vertical lifting distance, denoted as H) and lifting length (horizontal projection distance, denoted as L) for material conveying. In the basic calculation mode, the system directly calculates the initial lifting angle using trigonometric functions: θ0 = arctan(H / L). This initial lifting angle reflects the theoretical inclination angle of the conveying path. Subsequently, the system, considering the particle characteristics of the underground coal gangue material, calculates the minimum conveying speed threshold based on the initial lifting angle. When the lifting angle is small (e.g., θ0≤15°), the risk of material slippage is low, and a lower conveying speed (e.g., 0.8~1.0m / s) can be used to reduce energy consumption and equipment wear. When the lifting angle is large (e.g., θ0 > 15°), in order to prevent large coal gangue particles from sliding down, the conveying speed needs to be increased accordingly (e.g., 1.0~1.5m / s) to meet the minimum conveying speed requirement for the material to not slip.

[0064] This direct calculation mode can quickly obtain the basic parameters that fit the roadway geometry, and is suitable for underground scenarios with simple working conditions and stable material properties.

[0065] To further improve the field adaptability of parameters, this embodiment pre-constructs an underground equipment database. This database stores a large number of parameter combinations verified by field tests. Each set of parameters corresponds to adaptable delivery parameters under different roadway conditions, specifically including: Combinations of lifting height and lifting length corresponding to different tunnel clearance heights and widths; A proven safety enhancement angle that matches the above combination; Recommended lifting speeds for different material particle sizes at corresponding lifting angles.

[0066] In actual operation, the control unit first uses the target lifting height H and target lifting length L, calculated in real time, as search criteria to traverse the downhole equipment database: If a parameter combination that perfectly matches the target lifting height and lifting length exists in the database, the corresponding lifting angle and lifting speed parameters can be directly called without recalculation. These pre-stored parameters have fully considered actual working conditions such as the humid underground environment, material adhesion, and equipment installation errors. Compared with theoretical calculations, they are more reliable and can significantly reduce on-site commissioning workload and shorten the equipment commissioning cycle.

[0067] When the underground roadway conditions are special (such as non-standard roadway cross-section dimensions) and there is no perfectly matching parameter combination in the database, the system adopts a compensation correction algorithm to calculate the appropriate final lifting angle based on the closest benchmark parameters. The specific steps are as follows: Filtering benchmark parameters: Traverse the database and filter out the set of parameters with the smallest deviation from the target lifting height H and target lifting length L, denoted as benchmark lifting height H0, benchmark lifting length L0, and benchmark lifting angle θ0.

[0068] Calculate the correction ratio: Calculate the ratio of the target parameter to the baseline parameter respectively. Height ratio: RH=H / H0, reflects the deviation between the on-site lifting height and the benchmark working condition; Length ratio: RL=L / L0, reflects the deviation between the on-site lifting length and the benchmark working condition.

[0069] The compensation calculation determines the final lifting angle: Based on the height ratio, length ratio, and baseline lifting angle, the final lifting angle θ is obtained through compensation calculation, satisfying the following correlation: θ is positively correlated with the height ratio RH: the higher the on-site lifting height, the larger the required conveying angle. θ is negatively correlated with the length ratio RL: the longer the horizontal conveying length on site, the smaller the inclination angle can be under the same height difference; θ is positively correlated with the reference lifting angle θ0: based on a verified reference angle, ensuring conveying stability.

[0070] Taking a specific implementation as an example: If the target lifting height H = 2.1m and the target lifting length L = 5.2m, and the closest reference parameters in the database are H0 = 2.0m, L0 = 5.0m, and θ0 = 18°, then: The height ratio RH = 2.1 / 2.0 = 1.05, and the length ratio RL = 5.2 / 5.0 = 1.04; The final lifting angle can be calculated using the formula θ=θ0×RH / RL, resulting in θ=18°×1.05 / 1.04≈18.17°, which not only adapts to the on-site tunnel dimensions but also retains the stability advantage of the benchmark parameters.

[0071] Once the final lifting angle is determined, the system combines the material characteristics requirements corresponding to that angle with the recommended lifting speed range in the database to determine the final conveying speed, ensuring that the material does not slip or get stuck while adapting to the tunnel space.

[0072] In this embodiment, to adapt to the fluctuating particle size of coal gangue material underground, the sorting control logic of the material sorting module 4 has been further optimized. By linking the particle size of the material with the set ratio of the sorting control, the set ratio can be adaptively adjusted, avoiding malfunctions or missed sorting problems when the fixed threshold is applied to materials of different particle sizes. The specific implementation details are as follows: While completing the identification of coal gangue's physical properties and location, the detection and identification module 3 simultaneously detects the particle size of each piece of material on the conveyor belt. In this embodiment, the detection and identification module 3 uses machine vision or X-ray imaging to acquire the two-dimensional contour of the material, and calculates the equivalent particle size of the material through image processing algorithms. Specifically, it can use the circumscribed circle diameter or the three-dimensional equivalent diameter of the material, and records the particle size data of each piece of material passing through in real time. To avoid interference with the control logic caused by single material particle size fluctuations, the system uses a sliding window method to calculate the average particle size: for example, taking the particle size data of the most recent 100 pieces of material, or the particle size data of all materials passing through in the last 30 seconds, and calculating the arithmetic mean as the average particle size of the current material flow, thereby reflecting the overall particle size level of the material after screening of raw coal underground.

[0073] The system has a preset first size, which is a reference particle size determined based on the equipment's structural parameters and matches design parameters such as the spacing of the sorting plates 8 and the width of the conveyor belt. For example, in this embodiment, the spacing of the sorting plates 8 is set to 50mm as the reference particle size for conventional materials that the equipment is compatible with. The control unit calculates the average particle size in real time and performs a calculation with the first preset size to obtain a first size reference value. This reference value reflects the degree of deviation between the current material particle size and the reference particle size. In this embodiment, a ratio calculation method is used: First size reference value = Average particle size / First preset size; For example, when the average particle size of the current material flow is 40mm, the first size reference value is 40 / 50=0.8; when the average particle size is 60mm, the first size reference value is 60 / 50=1.2.

[0074] In the material sorting module 4, the set percentage is the core threshold for determining whether the sorting plate 8 extends. That is, when the percentage of the sorting plate 8 covered by material is greater than this threshold, the sorting plate 8 is controlled to extend. In this scheme, the system adjusts the set percentage positively based on the first size reference value. That is, the larger the reference value (the larger the material particles), the higher the set percentage; the smaller the reference value (the smaller the material particles), the lower the set percentage.

[0075] In practice, a baseline setting percentage can be preset, for example, 15%, corresponding to the normal working conditions of the first setting size, and then dynamic correction can be achieved by adjusting the coefficient: setting percentage = baseline setting percentage × first size reference value; Combining the examples above: When the average particle size is 40mm (reference value 0.8), the set percentage is adjusted to 15% × 0.8 = 12%; When the average particle size is 60mm (reference value 1.2), the set percentage is adjusted to 15% × 1.2 = 18%.

[0076] The advantage of this adjustment logic is that it can adapt to the sorting requirements of materials with different particle sizes: When the material particles are large, the coverage area of ​​a single material block on the conveyor belt is larger, and it will cover multiple sorting plates 8 at the same time. At this time, the set ratio is increased so that only the sorting plates 8 with a higher material coverage ratio are extended, thus avoiding the aggravation of equipment vibration caused by the simultaneous operation of multiple sorting plates 8. When the material particles are small, the number of sorting plates 8 covered by a single material block is small. Reducing the set ratio can ensure that the sorting plates 8 can be triggered to extend normally, avoiding the problem of missed sorting due to insufficient coverage.

[0077] Through the above adaptive adjustment, the equipment can automatically adapt to the working conditions of the discharge particle size fluctuation of the screening module 1, while ensuring the sorting accuracy, reducing the ineffective movement of the sorting plate 8, reducing equipment vibration and mechanical wear, and further improving the stability and reliability of equipment operation in narrow underground tunnels.

[0078] In this embodiment, to adapt to the impact of underground coal gangue particle size fluctuations on the stability of hoisting and conveying, while also taking into account the limitations of roadway space and the need for anti-slip during material conveying, the hoisting and conveying module 2 adopts a dual-parameter adaptive adjustment scheme based on material particle size, which can dynamically optimize the hoisting angle or hoisting speed respectively. The specific implementation details are as follows: Adjustment scheme based on the negative correlation between particle size and lifting angle: This solution dynamically adjusts the conveying angle to adapt to the particle size characteristics of the material while maximizing the use of underground roadway space and avoiding the risk of material slippage.

[0079] The online detection and average particle size calculation module 3 for material particles simultaneously collects particle size data for each piece of coal gangue while identifying its physical properties and locating its position. Parameters such as the equivalent diameter and circumscribed circle size can be obtained through machine vision or X-ray imaging technology. To eliminate the influence of single-time particle size fluctuations, the system employs a sliding window filtering method. For example, it takes the particle size data of the most recent 50 consecutive pieces of material and calculates the arithmetic mean as the average particle size of the current material flow, thus reflecting the overall particle size level of the material after underground screening.

[0080] The system calculates a first set size and a first size reference value. This first set size is a reference particle size adapted to the lifting angle adjustment, matching the conveyor belt's anti-slip performance and the conventional installation angle of the tunnel. In this embodiment, it is set to 40mm. The control unit calculates the average particle size in real time and then performs a ratio calculation with the first set size to obtain a first size reference value. The calculation formula is: First size reference value = Average particle size / First set size; for example, when the average particle size of the current material flow is 60mm, the first size reference value is 1.5; when the average particle size is 20mm, the first size reference value is 0.5.

[0081] The negative correlation adjustment logic system for the lifting angle adjusts the lifting angle negatively based on a first size reference value. That is, the larger the reference value (larger material particles), the smaller the lifting angle; conversely, the smaller the reference value (smaller material particles), the larger the lifting angle. This adjustment logic is based on the following: large coal gangue particles have a small contact area with the conveyor belt, resulting in insufficient friction. At larger inclination angles, they are prone to slipping and rolling, thus requiring a reduced lifting angle to ensure stable material transport. Conversely, small particles have more contact with the conveyor belt and are less prone to slipping, allowing for a more appropriate increase in the lifting angle and a shorter horizontal projection length of the transport path, thus better adapting to the narrow space constraints of underground roadways. In practical implementation, a baseline lifting angle, such as 15°, can be preset to correspond to the normal operating conditions of the first set size. Dynamic correction is then achieved through an adjustment coefficient: Lifting angle = Baseline lifting angle × 1 / First size reference value; Referring to the previous example: When the average particle size is 60mm (reference value 1.5), the lifting angle is adjusted to 15°×1 / 1.5=10° to reduce the tilt angle and prevent large particles from sliding down. When the average particle size is 20mm (reference value 0.5), the lifting angle is adjusted to 15°×1 / 0.5=30°. Increasing the inclination angle shortens the conveying length and is suitable for narrow passages.

[0082] A positive correlation adjustment scheme based on particle size increase rate: This solution dynamically adjusts and increases the conveying speed to meet the anti-slip conveying requirements of materials with different particle sizes, and is especially suitable for working conditions where roadway space is limited and the lifting angle is difficult to adjust.

[0083] The second preset size and second size reference value calculation system has a preset second preset size, which is a reference particle size adapted to the lifting speed adjustment. Its value is larger than the first preset size. In this embodiment, it is set to 60mm, which focuses more on optimizing the conveying stability of large particles. Similar to the above logic, the control unit calculates the average particle size in real time and performs a ratio calculation with the second preset size to obtain the second size reference value. The calculation formula is: second size reference value = average particle size / second preset size; for example, when the average particle size of the current material flow is 72mm, the second size reference value is 1.2; when the average particle size is 48mm, the second size reference value is 0.8.

[0084] The lifting speed positive correlation adjustment logic system adjusts the lifting speed based on the second size reference value; that is, the larger the reference value (larger material particles), the higher the lifting speed; the smaller the reference value (smaller material particles), the lower the lifting speed. This adjustment logic is based on the following: large particles require a higher minimum conveying speed to prevent slippage. When the lifting angle is fixed, the conveyor belt speed needs to be increased to increase the friction between the material and the conveyor belt, preventing slippage and stagnation. Small particles are less prone to slippage, so the conveying speed can be reduced to decrease equipment energy consumption and conveyor belt wear. In practical implementation, a baseline lifting speed, such as 1.0 m / s, can be preset to correspond to the normal operating conditions of the second set size. Dynamic correction can then be achieved through an adjustment coefficient: Lifting speed = Baseline lifting speed × Second size reference value; Referring to the previous example: When the average particle size is 72mm (reference value 1.2), the lifting speed is adjusted to 1.0×1.2=1.2m / s to increase the speed and prevent large particles from sliding down. When the average particle size is 48mm (reference value 0.8), the lifting speed is adjusted to 1.0×0.8=0.8m / s to reduce energy consumption and wear.

[0085] The two adjustment schemes mentioned above can be flexibly selected according to the actual spatial conditions of the underground roadway: when the roadway height is sufficient but the width is limited and the horizontal conveying length needs to be shortened, the negative correlation adjustment scheme of the lifting angle should be given priority; when the roadway size is fixed and the lifting angle cannot be adjusted, the positive correlation adjustment scheme of the lifting speed should be given priority. The two schemes can also be combined to achieve synergistic optimization of the lifting angle and speed, so as to maximize the adaptation to the working conditions of narrow underground roadways while ensuring the stable conveying of coal gangue materials, and improve the reliability and stability of equipment operation.

[0086] In other embodiments, this application provides a screening-conveying closed-loop linkage control scheme parallel to the aforementioned scheme. This scheme dynamically adjusts the discharge particle size of the screening module 1 based on the lifting and conveying inclination angle, and implements anomaly warning through closed-loop verification to ensure the stability of underground coal gangue conveying and screening efficiency. Specific implementation details are as follows: Negative correlation adjustment of particle size based on lifting angle: To adapt to the anti-slip requirements of materials under different conveying angles, this solution uses the lifting angle as the core control parameter and adjusts the discharge particle size of screening module 1 in the reverse direction to achieve adaptive matching of "inclination angle-particle size".

[0087] The angle reference value calculation system has a preset angle, which is a reference conveying angle adapted to normal working conditions and corresponds to the recommended conveying angle of the equipment under normal roadway conditions. For example, in this embodiment, it is set to 15°. After the control unit obtains the actual lifting angle θ of the current lifting and conveying module 2, it calculates it with the preset angle θ0 to obtain the angle reference value. This reference value reflects the degree of deviation between the current conveying angle and the reference working condition. The calculation formula is: angle reference value = θ / θ0; for example, when the actual lifting angle is 20°, the angle reference value is 20° / 15°≈1.33; when the actual lifting angle is 10°, the angle reference value is 10° / 15°≈0.67.

[0088] The negative correlation adjustment logic system for particle size screening adjusts the output particle size of screening module 1 based on the angle reference value. Specifically, the larger the angle reference value (the larger the lifting angle), the smaller the screened particle size; conversely, the smaller the angle reference value (the smaller the lifting angle), the larger the screened particle size. This adjustment logic is based on the following: a larger lifting angle increases the risk of material slippage on the conveying module, and larger particles have less contact friction with the conveying module, making them more prone to slippage and rolling. Therefore, reducing the screened particle size increases the contact area between the material and the conveying module, improving conveying stability. Conversely, a smaller lifting angle reduces the risk of material slippage, allowing for a more appropriate increase in the screened particle size to reduce energy consumption and toothed roller wear caused by over-screening, thus extending the service life of screening module 1. In practical implementation, a baseline screening particle size, such as 40mm, can be preset, corresponding to a standard operating condition with a set angle of 15°. Dynamic correction is then achieved through an adjustment coefficient: Screened particle size = Baseline screening particle size × 1 / Angle reference value; (Referring to the previous example). When the lifting angle is 20° (reference value 1.33), the particle size of the screened particles is adjusted to 40mm × (1 / 1.33) ≈ 30mm to reduce the particle size and adapt to the large-angle conveying. When the lifting angle is 10° (reference value 0.67), the particle size of the screened particles is adjusted to 40mm × (1 / 0.67) ≈ 60mm, increasing the particle size to reduce screening energy consumption.

[0089] Because there is a certain conveying delay in the material from the discharge end of the screening module 1 to the detection and identification module 3 after the screening module 1 is adjusted, such as about 30 seconds in this embodiment, the system adopts a delay detection mechanism to avoid detecting the material data before the adjustment, so as to ensure that the detection result accurately reflects the screening effect after the adjustment.

[0090] The system has a preset waiting time, which matches the conveying time from screening module 1 to detection and identification module 3, for example, set to 30 seconds. After screening module 1 completes particle size adjustment, the system starts timing. After the preset waiting time, the particle size detection program of detection and identification module 3 is started. At this time, the material arriving at the detection module is the adjusted material, which can truly reflect the screening effect.

[0091] After the particle size change trend calculation, detection, and identification module 3 is activated, it performs particle size detection on the coal gangue material passing through over a continuous period of time (e.g., within 10 seconds), calculates the average particle size of the current material flow, and compares it with the average particle size before adjustment to analyze the change trend of particle size. If the average particle size before adjustment is 40 mm, and after adjustment (increasing the angle by 20° and reducing the particle size), the average particle size detected after waiting for 30 seconds is 32 mm, then the trend is decreasing. If, after adjustment (increasing the angle by 10° and increasing the particle size), the detected average particle size is 55 mm, then the trend is towards increasing.

[0092] To verify whether the adjustment of screening module 1 is effective and whether there is any abnormality in the conveying process, the system determines the correspondence between the angle reference value and the particle size change trend. If the two do not match, an early warning is triggered.

[0093] Since the particle size being screened is negatively correlated with the angle reference value, the corresponding relationship between the two must meet the following rules: When the angle reference value increases (i.e., the lifting angle is greater than the set angle), the particle size should theoretically decrease. When the angle reference value decreases (i.e., the lifting angle is less than the set angle), the particle size should theoretically increase.

[0094] If the anomaly warning mechanism detects that the two do not meet the above correspondence, it indicates that there is an anomaly in screening module 1 or the conveying process, for example: If the angle reference value increases but the particle size shows an increasing trend, it may be due to a malfunction in screening module 1, such as wear of the toothed roller, material jamming leading to poor screening effect, or material blockage in the conveying process, causing the adjusted fine particles to not reach the detection module. If the angle reference value decreases but the particle size shows a decreasing trend, it may be due to a malfunction in the adjustment mechanism of screening module 1, which is still maintaining a fine screening state, or changes in the hardness of the raw coal causing abnormal screening particle size. In this case, the system will trigger an early warning, displaying "Abnormal Screening Particles" or "Particle Conveying Warning" through the underground audible and visual alarm device or the upper computer monitoring interface, reminding maintenance personnel to troubleshoot the fault in a timely manner, avoiding slippage and blockage of large particles in steep-angle conveying, which could lead to equipment shutdown or damage, and ensuring the continuity and safety of underground operations.

[0095] In other embodiments, this application provides a screening-conveying closed-loop linkage control scheme parallel to the aforementioned scheme. This scheme dynamically adjusts the discharge particle size of the screening module 1 based on the lifting and conveying operating speed, and implements anomaly warnings through closed-loop verification. It is suitable for underground working conditions where the lifting angle is fixed and the tunnel size is limited. Specific implementation details are as follows: The particle size of the sieve is positively correlated with the lifting speed: This solution uses the actual operating speed of the conveying module 2 as the core control parameter and adjusts the discharge particle size of the screening module 1 in the opposite direction to achieve adaptive matching of "conveying speed - screening particle size". While ensuring the anti-slip stability of material conveying, it optimizes screening energy consumption and equipment wear.

[0096] The speed reference value calculation system has a preset speed, which is a benchmark conveying speed adapted to normal working conditions and corresponds to the recommended operating speed of the equipment under normal roadway conditions. For example, in this embodiment, it is set to 1.0 m / s. After the control unit obtains the actual lifting speed v of the current lifting and conveying module 2, it calculates it with the preset speed v0 to obtain the speed reference value. This reference value reflects the degree of deviation between the current conveying speed and the benchmark working condition. The calculation formula is: speed reference value = v / v0; for example, when the actual lifting speed is 1.2 m / s, the speed reference value is 1.2 / 1.0 = 1.2; when the actual lifting speed is 0.8 m / s, the speed reference value is 0.8 / 1.0 = 0.8.

[0097] The positive correlation adjustment logic system for particle size screening adjusts the output particle size of screening module 1 based on the speed reference value. Specifically, the higher the speed reference value, the higher the lifting speed and the larger the screened particle size; conversely, the lower the speed reference value, the lower the lifting speed and the smaller the screened particle size. The core principle of this adjustment logic is that to prevent coal gangue material from slipping on the inclined conveyor module, a minimum conveying speed requirement must be met. Larger particle sizes require higher minimum conveying speeds; conversely, higher conveying speeds allow for the safe transport of larger particle sizes. Therefore, when the lifting speed is high, the screened particle size can be appropriately increased to reduce energy consumption from over-screening; when the lifting speed is low, the screened particle size needs to be reduced to increase the contact area between the material and the conveyor module, increasing friction and preventing material slippage and retention. In practical implementation, a baseline screening particle size, such as 40mm, can be preset, corresponding to a normal operating condition with a set speed of 1.0m / s. Dynamic correction can then be achieved through an adjustment coefficient: Screened particle size = Baseline screening particle size × Speed ​​reference value; (Referring to the previous example). When the lifting speed is 1.2 m / s (reference value 1.2), the particle size is adjusted to 40 mm × 1.2 = 48 mm to increase the particle size and reduce screening energy consumption. When the lifting speed is 0.8 m / s (reference value 0.8), the particle size of the screened material is adjusted to 40 mm × 0.8 = 32 mm to reduce the particle size to adapt to low-speed conveying and prevent material slippage.

[0098] Because there is a certain conveying delay in the material from the discharge end of the screening module 1 to the detection and identification module 3 after the screening module 1 is adjusted, such as about 30 seconds in this embodiment, the system adopts a delay detection mechanism to avoid detecting the material data before the adjustment, so as to ensure that the detection result accurately reflects the screening effect after the adjustment.

[0099] The system has a preset waiting time, which matches the conveying time from screening module 1 to detection and identification module 3, for example, set to 30 seconds. After screening module 1 completes particle size adjustment, the system starts timing. After the preset waiting time, the particle size detection program of detection and identification module 3 is started. At this time, the material arriving at the detection module is the adjusted material, which can truly reflect the screening effect.

[0100] After the particle size change trend calculation, detection, and identification module 3 is activated, it performs particle size detection on the coal gangue material passing through over a continuous period of time (e.g., within 10 seconds), calculates the average particle size of the current material flow, and compares it with the average particle size before adjustment to analyze the change trend of particle size. If the average particle size before adjustment is 40 mm, and after adjustment (lifting speed 1.2 m / s, increasing particle size), the average particle size detected after waiting 30 seconds is 46 mm, then the trend is increasing. If, after adjustment (increasing speed to 0.8 m / s and reducing particle size), the detected average particle size is 34 mm, then the trend is decreasing.

[0101] To verify whether the adjustment of screening module 1 is effective and whether there is any abnormality in the conveying process, the system determines the correspondence between the speed reference value and the particle size change trend. If the two do not match, an early warning is triggered.

[0102] The logic for determining the correspondence is based on the positive correlation between the sieved particle size and the speed reference value; therefore, the correspondence between the two must satisfy the following rules: When the speed reference value increases (i.e., the lifting speed is greater than the set speed), the particle size should theoretically increase. When the speed reference value decreases (i.e., the lifting speed is less than the set speed), the particle size should theoretically decrease.

[0103] If the anomaly warning mechanism detects that the two do not meet the above correspondence, it indicates that there is an anomaly in screening module 1 or the conveying process, for example: If the speed reference value increases but the particle size decreases, it may be due to a malfunction in screening module 1, such as excessive wear of the toothed rollers leading to excessively fine screening, failure of the adjustment mechanism to increase the particle size, or material blockage in the conveying process, resulting in large particles not reaching the detection module after adjustment. If the speed reference value decreases but the particle size shows an increasing trend, it may be due to a malfunction in the adjustment mechanism of screening module 1, which is still maintaining coarse screening, or a decrease in the hardness of the raw coal leading to abnormally large screening particle size. In this case, the system will trigger an early warning, displaying "Abnormal Screening Particles" or "Particle Conveying Warning" through the underground audible and visual alarm device or the upper computer monitoring interface. This alerts maintenance personnel to promptly investigate the fault, preventing large particles from slipping and clogging at low conveying speeds, or excessive screening at high conveying speeds, thus ensuring energy waste and continuity and safety in underground operations.

[0104] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A coal gangue sorting device for use in narrow underground roadways, characterized in that, It includes a screening module (1), a lifting and conveying module (2), a detection and identification module (3), a material sorting module (4), and a guiding and discharging module (5); The screening module (1) screens the raw materials to obtain a mixture of materials with a certain particle size range. The materials enter the lifting and conveying module (2). The lifting and conveying module (2) acquires environmental data, calculates the lifting length and lifting height based on the environmental data, matches the corresponding lifting angle and lifting speed based on the lifting length and lifting height, and lifts and conveys the coal gangue from the detection and identification module (3) to the material sorting module (4) based on the lifting angle and lifting speed. The detection and identification module (3) is set on the conveying path of the lifting and conveying module (2) to distinguish between gangue and lump coal, and to extract their respective spatial location data and dimensions; The material sorting module (4) is located at the unloading end of the lifting and conveying module (2), and includes a sorting frame and a sorting plate (8) driven by a telescopic component. The sorting plate (8) is slidably connected to the sorting frame. The guiding discharge module (5) includes a first conveying module (6) and a second conveying module (7); The telescopic component controls the sliding distance and speed of the sorting plate according to the position data: when the sorting plate (8) is in the retracted state, the gangue passes through the sorting plate and falls to the first conveying module (6); when the sorting plate (8) is in the extended state, it receives the lump coal and guides it to the second conveying module (7).

2. The coal gangue sorting equipment for narrow underground roadways according to claim 1, characterized in that, The first conveying module (6) and the second conveying module (7) are arranged in parallel and located below the lifting conveying module (2). The height difference between the first conveying module (6) and the second conveying module (7) is within the preset height difference range. Alternatively, the first conveying module (6) and the second conveying module (7) are located at the same height and are arranged parallel to each other on both sides along the direction of lifting and conveying.

3. The coal gangue sorting equipment for narrow underground roadways according to claim 1, characterized in that, The conveyor line of the lifting conveyor module (2) is set as a smooth conveyor line. The inlet point of the smooth conveyor line is lower than the outlet point. A scraper is set below the smooth conveyor line. The scraper is used to scrape off the material adhering to the surface of the smooth conveyor line. The first and second conveyor lines of the material sorting module (4) have the same structure, and both have uniformly distributed anti-slip partitions (9) on their surfaces. The length direction of the anti-slip partitions (9) is perpendicular to the conveying direction of the material sorting module (4).

4. The coal gangue sorting equipment for narrow underground roadways according to claim 1, characterized in that, The lifting and conveying distance is calculated based on the lifting length and lifting height, and the conveying time is calculated based on the lifting and conveying distance and lifting speed. After the detection and identification module (3) extracts the first position data and the second position data, it delays the conveying time and sends the first position data and the second position data to the material sorting module (4). The material sorting module (4) matches the sorting plate (8) involved based on the first position data and controls the telescopic component to make the sorting plate (8) in a retracted state; the material sorting module (4) matches the sorting plate (8) involved based on the second position data, calculates the proportion of the sorting plate (8) involved, controls the telescopic component to make the corresponding sorting plate (8) extend, and retracts after receiving the lump coal.

5. The coal gangue sorting equipment for narrow underground roadways according to claim 1, characterized in that, The detection and identification module (3) is located at the lower end of the conveying position of the lifting and conveying module (2).

6. The coal gangue sorting equipment for narrow underground roadways according to claim 4, characterized in that, The material sorting module (4) is located at the high end of the conveying position of the lifting and conveying module (2). When powered on initially, all sorting boards (8) automatically find the zero point position; during each working preset time, in the idle state, at a random time, each sorting unit of sorting board (8) automatically finds the zero point.

7. The coal gangue sorting equipment for narrow underground roadways according to claim 1, characterized in that, It also includes a moving module, which includes an installation frame and a horizontal moving component and a vertical moving component. The screening module (1), the lifting and conveying module (2), the detection and identification module (3), the material sorting module (4) and the guiding and discharging module (5) are all installed on the installation frame. The horizontal moving component drives the installation frame to move as a whole, so as to realize the overall movement of the coal gangue sorting equipment in the roadway. Each module is equipped with a corresponding vertical moving component to realize the adaptive height adjustment of each module.

8. The coal gangue sorting equipment for narrow underground roadways according to claim 7, characterized in that, A flexible connection structure is provided between the screening module (1), the lifting and conveying module (2), the detection and identification module (3), the material sorting module (4), and the guiding and discharging module (5); the flexible connection structure includes a flexible connector, a hinged support, and an elastic buffer; the hinged support is assembled at the docking end of two adjacent modules, the flexible connector is sleeved at the docking gap, and the elastic buffer abuts against the adjacent modules respectively.

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