Coal gangue screening device

Abstract

The utility model discloses a coal gangue screening device and relates to the technical field of coal gangue screening, the coal gangue screening device comprises a conveying mechanism, a grabbing mechanism, a recognition mechanism and a control mechanism, the conveying mechanism comprises a conveying belt used for conveying coal, and the recognition mechanism and the grabbing mechanism are sequentially arranged on the conveying belt in the conveying direction of the conveying belt; the recognition mechanism comprises a camera recognition module and a ray recognition module, the camera recognition module is provided with a shooting face and arranged above the conveying belt in the mode that the shooting face faces the conveying belt, and the ray recognition module comprises a ray emitter and a ray receiver. The ray emitter and the ray receiver are arranged above and below the conveying belt correspondingly, and the ray receiver, the camera shooting recognition module and the grabbing mechanism are all in electric signal connection with the control mechanism. According to the technical scheme, the problems that an existing coal gangue screening device is low in recognition precision and poor in screening effect can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of coal gangue screening, in particular to a coal gangue screening device. Background Art

[0002] Gangue is solid waste emitted during coal mining and coal washing. It is a black-gray rock with a lower carbon content and harder than coal that accompanies coal seams during the coal formation process. Gangue not only reduces the quality of coal combustion, but also increases the emission of pollutants. Gangue screening devices are currently mainly used to identify and separate gangue, but existing gangue screening devices have the problems of low identification accuracy and poor screening effect.

[0003] Therefore, it is necessary to provide a new coal gangue screening device to solve the above technical problems. Utility Model Content

[0004] The main purpose of the utility model is to provide a coal gangue screening device, aiming to solve the problems of low recognition accuracy and poor screening effect existing in the prior art.

[0005] To achieve the above-mentioned purpose, the utility model proposes a coal gangue screening device, comprising a conveying mechanism, a grabbing mechanism, an identification mechanism and a control mechanism, wherein the conveying mechanism comprises a conveyor belt for conveying coal, and the identification mechanism and the grabbing mechanism are sequentially arranged at the conveyor belt along the conveying direction of the conveyor belt;

[0006] The recognition mechanism includes a camera recognition module and a ray recognition module, the camera recognition module has a shooting surface, and the camera recognition module is arranged above the conveyor belt with the shooting surface facing the conveyor belt. The ray recognition module includes a ray transmitter and a ray receiver, and the ray transmitter and the ray receiver are respectively arranged above and below the conveyor belt. The ray receiver, the camera recognition module and the grasping mechanism are all connected to the control mechanism by electrical signals.

[0007] In one embodiment, the recognition mechanism further includes a bracket, the control mechanism is disposed on the bracket, the camera recognition module includes a shooting camera, the shooting camera has the shooting surface, and the shooting camera is disposed on the bracket in a manner that the shooting surface faces the conveyor belt;

[0008] The ray transmitter and the ray receiver are both arranged on the bracket and are respectively located above and below the conveyor belt.

[0009] In one embodiment, the camera device module further includes a dust collector and an air tank connected to the dust collector, the dust collector has an air outlet, and the dust collector is arranged on one side of the shooting camera with the air outlet facing the shooting surface.

[0010] In one embodiment, the gripping mechanism includes a mounting frame, a manipulator and a control module. The manipulator is disposed on the mounting frame, and the manipulator is connected to the control mechanism via an electrical signal through the control module.

[0011] In one embodiment, the mounting frame is provided with a sliding rod extending along a first direction of the conveyor belt, the manipulator is slidably disposed on the sliding rod, and the manipulator can slide away from directly above the conveyor belt.

[0012] In one embodiment, there are multiple sliding bars, which are spaced apart along the conveying direction of the conveyor belt, and each of the sliding bars is slidably provided with the manipulator, and each of the manipulators is electrically connected to the control mechanism through the control module.

[0013] In one embodiment, the gripping mechanism further comprises a collection box, which is disposed on the mounting frame and located on one side of the conveyor belt, and the manipulator can slide between directly above the conveyor belt and directly above the collection box.

[0014] In one embodiment, the collection box is provided with a first connection block, and the mounting frame is provided with a second connection block, and the first connection block is detachably connected to the second connection block via a pin.

[0015] In one embodiment, a pulley is disposed at the bottom of the collection box.

[0016] In one embodiment, the robot comprises a base, a plurality of robot arms and a gripper that are movably connected in sequence, and the base is disposed on the mounting frame.

[0017] The technical solution of the utility model identifies coal gangue by adopting two identification methods, namely, video identification and ray identification. The two identification methods can compensate for each other's limitations and more accurately determine the position information of coal gangue in coal, thereby improving the identification accuracy of the coal gangue screening device and enhancing the screening effect. Specifically, the conveying mechanism is used to convey coal, where coal refers to a mixture of coal blocks and coal gangue, the camera recognition module is used to photograph the coal on the conveyor belt in real time and generate a photographed image, the ray transmitter is used to emit x-rays, and the ray receiver is used to receive x-rays and convert them into electrical signals; the control mechanism can obtain and integrate the photographed images taken by the camera recognition module and the electrical signals converted by the ray receiver to obtain the position information of the coal gangue; the grasping mechanism can obtain the position information and can separate the coal gangue from the coal according to the position information; the coal gangue screening device identifies the coal gangue by adopting two identification methods, namely camera recognition and ray recognition, wherein the camera recognition module can accurately identify large pieces of coal blocks and coal gangue, and the ray recognition module can accurately identify small pieces of coal blocks and coal gangue, and the two identification methods can make up for each other's respective limitations and more accurately determine the position information of the coal gangue in the coal, thereby improving the recognition accuracy of the coal gangue screening device and improving the screening effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of the coal gangue screening device provided by the utility model;

[0020] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0021] Figure 3 for Figure 1 The enlarged view of point B in the middle;

[0022] Figure 4 The utility model is provided with a top view of the gangue screening device at the grabbing mechanism.

[0023] Description of Figure Numbers:

[0024] 100, conveying mechanism; 110, conveyor belt; 200, grabbing mechanism; 210, mounting frame; 211, sliding rod; 220, manipulator; 221, base; 222, manipulator arm; 223, gripper; 230, collecting box; 231, pulley; 300, identification mechanism; 310, camera identification module; 311, shooting surface; 312, shooting camera; 313, dust collector; 3131, air outlet; 314, gas tank; 320, ray identification module; 321, ray transmitter; 322, ray receiver; 330, bracket; 400, control mechanism.

[0025] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that satisfies both A and B.

[0029] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] In the related art, the gangue screening device can screen out the gangue in the coal to improve the quality of the coal; the gangue screening device screens out the gangue in the coal, which mainly includes two steps of identification and separation. The existing gangue screening device mainly uses a single method such as camera identification and ray identification to identify the gangue. The above identification methods have certain limitations in identifying the gangue, which will result in a low recognition accuracy of the gangue screening device and cannot accurately separate the gangue in the coal. Among them, the recognition accuracy of video recognition is higher for large pieces of coal and coal gangue, but lower for small pieces of coal and coal gangue. The reason is that the surface area of ​​small pieces of coal and coal gangue is small and they are easily affected by dust, which makes it difficult to obtain the characteristic information of coal gangue; the recognition accuracy of X-ray recognition is higher for small pieces of coal and coal gangue, but lower for large pieces of coal and coal gangue. The reason is that the X-rays used in X-ray recognition have short wavelengths and high energy, which are easily absorbed by the objects to be tested and difficult to penetrate.

[0031] The utility model provides a coal gangue screening device, aiming to solve the problems of low recognition accuracy and poor screening effect existing in the prior art.

[0032] See also Figure 1 In one embodiment of the utility model, the gangue screening device includes a conveying mechanism 100, a grabbing mechanism 200, an identification mechanism 300 and a control mechanism 400. The conveying mechanism 100 includes a conveyor belt 110 for conveying coal, and the identification mechanism 300 and the grabbing mechanism 200 are arranged along the conveying direction of the conveyor belt 110 (such as Figure 1 ) are arranged at the conveyor belt 110 in sequence; the identification mechanism 300 includes a camera identification module 310 and a radiation identification module 320, the camera identification module 310 has a shooting surface 311, and the camera identification module 310 is arranged above the conveyor belt 110 with the shooting surface 311 facing the conveyor belt 110, the radiation identification module 320 includes a radiation emitter 321 and a radiation receiver 322, the radiation emitter 321 and the radiation receiver 322 are respectively arranged above and below the conveyor belt 110, and the radiation receiver 322, the camera identification module 310 and the grasping mechanism 200 are all electrically connected to the control mechanism 400 by signals.

[0033] The technical solution of the utility model identifies gangue by adopting two identification methods, namely, video recognition and ray recognition. The two identification methods can compensate for each other's limitations and more accurately determine the location information of gangue in coal, thereby improving the recognition accuracy of the gangue screening device and enhancing the screening effect. Specifically, the conveying mechanism 100 is used to convey coal, where coal refers to a mixture of coal blocks and gangue. The video recognition module 310 is used to photograph the coal on the conveyor belt 110 in real time and generate a photographed image. The ray transmitter 321 is used to emit x-rays, and the ray receiver 322 is used to receive x-rays and convert them into electrical signals. The control mechanism 400 can obtain and integrate the photographed images taken by the video recognition module 310 and the electrical signals converted by the ray receiver 322 to obtain the location information of gangue. The gripping mechanism 200 can obtain The position information can be obtained, and the gangue in the coal can be separated according to the position information; the gangue screening device identifies the gangue by adopting two identification methods: camera identification and radiation identification, wherein the camera identification module 310 can accurately identify large pieces of coal and gangue, and the radiation identification module 320 can accurately identify small pieces of coal and gangue, and the two identification methods can make up for each other's limitations and more accurately determine the position information of the gangue in the coal, thereby improving the identification accuracy of the gangue screening device and improving the screening effect.

[0034] The camera recognition module 310 and the ray recognition module 320 are both existing technologies for identifying coal gangue. Specifically, the camera recognition module 310 can take real-time photos of the coal on the conveyor belt 110 and generate a captured image. The control mechanism 400 can obtain the captured image and compare the captured image with the coal gangue image in the database one by one, thereby obtaining the first position information of the coal gangue; the ray transmitter 321 can emit x-rays, which are received by the ray receiver 322 below after attenuation after penetrating the coal blocks and coal gangue, and then the ray receiver 322 converts the attenuated x-rays into electrical signals, and the control mechanism 400 can obtain the electrical signals and obtain the second position information of the coal gangue. Then the control mechanism 400 integrates the first position information and the second position information, and transmits the integrated position information to the grasping mechanism 200; finally, the grasping mechanism 200 separates the coal gangue from the coal according to the position information of the coal gangue. Furthermore, during video recognition, the video recognition module 310 extracts characteristic information such as the position, color, size, and shape of the coal through module matching and feature extraction, and then transmits the characteristic information to the control mechanism 400 for comparison with the gangue image in the database, and combines image processing algorithms and other technologies to extract, model, and separate the texture, grayscale and other characteristics of the gangue to achieve the recognition of the gangue; ray recognition is to screen the gangue according to the degree to which the x-rays are scattered and absorbed by atoms when penetrating the material. The x-ray attenuation law mainly depends on the mass and density of the material. There is a significant difference in the mass attenuation coefficients of coal blocks and gangue. Therefore, the gangue can be identified according to the degree of x-ray attenuation. Among them, the gangue has a large x-ray attenuation, and x-rays are a kind of electromagnetic wave with an extremely short wavelength and an extremely high frequency. It is a particle flow generated by the transition of electrons in atoms between two energy levels with a large energy difference.

[0035] See also Figure 1 and Figure 2 In one embodiment of the utility model, the identification mechanism 300 further includes a bracket 330, the control mechanism 400 is arranged on the bracket 330, the camera identification module 310 includes a shooting camera 312, the shooting camera 312 has a shooting surface 311, and the shooting camera 312 is arranged on the bracket 330 in a manner that the shooting surface 311 faces the conveyor belt 110; the ray emitter 321 and the ray receiver 322 are both arranged on the bracket 330, and are respectively located above and below the conveyor belt 110. The shooting camera 312 is used to shoot the coal on the conveyor belt 110 in real time and generate a shooting image; the ray emitter 321 and the ray receiver 322 are respectively arranged above and below the conveyor belt 110, which enables the x-rays emitted by the ray emitter 321 to pass through only one layer of coal and the conveyor belt 110 and be received by the ray receiver 322, which avoids the situation that the x-rays need to pass through multiple layers of coal, and ensures the accuracy of the ray identification module 320.

[0036] See also Figure 2 In one embodiment of the utility model, the camera recognition module 310 further includes a dust collector 313 and an air tank 314 connected to the dust collector 313. The dust collector 313 has an air outlet 3131. The dust collector 313 is arranged on one side of the camera 312 with the air outlet 3131 facing the shooting surface 311. The dust collector 313 can blow air toward the shooting surface 311 through the air outlet 3131 to clean the dust or obstructions attached to the shooting surface 311, ensure the cleanliness of the shooting surface 311, and further ensure the accuracy of the camera recognition module 310; the shooting surface 311 is cleaned by blowing, which has the characteristics of simple structure and convenient manufacturing, and can reduce the manufacturing cost of the coal gangue screening device. Furthermore, in order to improve the degree of automation of the coal gangue screening device, a corresponding sensor can be set at the shooting surface 311, and the dust collector 313 can be connected to the sensor electrical signal. Specifically, the sensor can transmit a cleaning signal to the dust collector 313 when dust or obstructions appear on the shooting surface 311, and the dust collector 313 can blow air toward the shooting surface 311 according to the cleaning signal to clean the shooting surface 311.

[0037] See also Figure 1 In one embodiment of the utility model, the grabbing mechanism 200 includes a mounting frame 210, a manipulator 220 and a control module. The manipulator 220 is arranged on the mounting frame 210, and the manipulator 220 is connected to the control mechanism 400 by electrical signals through the control module. The control module is used to obtain the position information of the gangue integrated by the control mechanism 400, and control the manipulator 220 to separate the gangue from the coal; specifically, the control module can adjust the descending position, gripper size and descending speed of the manipulator 220 according to the position information of the gangue integrated by the control mechanism 400 and the conveying speed of the conveyor belt 110 to achieve precise grabbing.

[0038] See also Figure 4 In one embodiment of the utility model, the mounting frame 210 is provided with a slide bar 211 extending along a first direction of the conveyor belt 110, and the manipulator 220 is slidably provided on the slide bar 211, and the manipulator 220 can slide away from the top of the conveyor belt 110, wherein the first direction is perpendicular to the conveying direction of the conveyor belt 110, specifically referring to Figure 4 After grabbing the gangue, the manipulator 220 can slide along the slide bar 211 away from the top of the conveyor belt 110, and take the gangue away from the conveyor belt 110 to achieve the screening of the gangue; wherein the slide bar 211 can provide a guide for the sliding of the manipulator 220.

[0039] See also Figure 4In one embodiment of the utility model, there are multiple slide bars 211, which are arranged at intervals along the conveying direction of the conveyor belt 110, and each slide bar 211 is slidably provided with a manipulator 220, and each manipulator 220 is electrically connected to the control mechanism 400 through a control module. By providing multiple manipulators 220 for grabbing gangue, the grabbing mechanism 200 can cope with the continuous appearance of gangue, thereby ensuring the screening effect of gangue; in a specific embodiment, there are three slide bars 211, and each of the three slide bars 211 is slidably provided with a manipulator 220.

[0040] See also Figure 1 In one embodiment of the utility model, the grabbing mechanism 200 further includes a collecting box 230, which is disposed on the mounting frame 210 and located on one side of the conveyor belt 110, and the manipulator 220 can slide between directly above the conveyor belt 110 and directly above the collecting box 230. The collecting box 230 is used to collect coal gangue. Specifically, after grabbing the coal gangue, the manipulator 220 can slide from directly above the conveyor belt 110 to directly above the collecting box 230, and release the coal gangue when it is directly above the collecting box 230, and put the coal gangue into the collecting box 230; in a specific embodiment, the number of the collecting boxes 230 is two, and the two collecting boxes 230 are disposed on both sides of the conveyor belt 110 along the first direction.

[0041] In one embodiment of the utility model, the collection box 230 is provided with a first connection block, and the mounting frame 210 is provided with a second connection block, and the first connection block is detachably connected to the second connection block through a pin. The collection box 230 is detachably mounted on the mounting frame 210, which is convenient for workers to disassemble the collection box 230, transfer and recover the coal gangue in the collection box 230; in a specific embodiment, the first connection block and the second connection block are provided with mutually connected locking holes, and the pin can be inserted into the locking hole when the locking holes of the first connection block and the second connection block are connected, so as to lock the first connection block and the second connection block, and then lock the collection box 230.

[0042] See also Figure 1 In one embodiment of the utility model, in order to facilitate workers to transfer the collection box 230, a pulley 231 is provided at the bottom of the collection box 230. In a specific embodiment, pulleys 231 are provided at the four corners of the bottom of the collection box 230.

[0043] See also Figure 3In one embodiment of the utility model, the manipulator 220 includes a base 221, a plurality of mechanical arms 222 and a gripper 223 which are movably connected in sequence, and the base 221 is disposed on the mounting frame 210. The gripper 223 is used to grab the gangue, and the manipulator 220 includes a plurality of mechanical arms 222 which are movably connected, that is, the manipulator 220 has a certain degree of freedom, and the position of the gripper 223 can be freely adjusted in multiple directions, which can ensure that the manipulator 220 can accurately grab the gangue. In a specific embodiment, the base 221 is slidably disposed on the slide bar 211.

[0044] The process of screening coal gangue by using the coal gangue screening device is as follows: first, the shooting camera 312 shoots the coal blocks and coal gangue on the conveyor belt 110 in real time and generates a shooting image, the control mechanism 400 obtains the shooting image and compares the shooting image with the coal gangue image in the database one by one to obtain the first position information of the coal gangue; at the same time, the ray transmitter 321 emits x-rays, and the x-rays are received by the ray receiver 322 below after penetrating the coal blocks and coal gangue and experiencing attenuation. The ray receiver 322 converts the attenuated x-rays into electrical signals, and then the control mechanism 400 obtains the electrical signals and generates coal gangue. The second position information of the gangue; the control mechanism 400 integrates the first position information and the second position information, and transmits the integrated position information to the grasping mechanism 200; finally, the grasping mechanism 200 adjusts the descending position, gripper size, and descending speed of the manipulator 220 according to the position information of the gangue and the conveying speed of the conveyor belt 110 to accurately grasp the gangue. After grasping the gangue, the manipulator 220 slides along the slide bar 211 from directly above the conveyor belt 110 to directly above the collecting box 230, then releases the gangue, and puts the gangue into the collecting box 230 to complete the screening of the gangue.

[0045] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A coal gangue screening device, characterized in that: It comprises a conveying mechanism, a grabbing mechanism, an identification mechanism and a control mechanism, wherein the conveying mechanism comprises a conveying belt for conveying coal, and the identification mechanism and the grabbing mechanism are sequentially arranged at the conveying belt along the conveying direction of the conveying belt; The recognition mechanism includes a camera recognition module and a ray recognition module, the camera recognition module has a shooting surface, the camera recognition module is arranged above the conveyor belt in a manner that the shooting surface faces the conveyor belt, the ray recognition module includes a ray transmitter and a ray receiver, the ray transmitter and the ray receiver are respectively arranged above and below the conveyor belt, and the ray receiver, the camera recognition module and the grabbing mechanism are all connected to the control mechanism by electrical signals; The recognition mechanism further includes a bracket, the control mechanism is arranged on the bracket, the camera recognition module includes a shooting camera, the shooting camera has the shooting surface, and the shooting camera is arranged on the bracket in a manner that the shooting surface faces the conveyor belt; the ray transmitter and the ray receiver are both arranged on the bracket and are respectively located above and below the conveyor belt; The camera recognition module also includes a dust collector and an air tank connected to the dust collector, the dust collector has an air outlet, and the dust collector is arranged on one side of the shooting camera with the air outlet facing the shooting surface; and a sensor for detecting dust or obstructions is arranged at the shooting surface, and the sensor is electrically connected to the dust collector.

2. The gangue screening device according to claim 1, characterized in that: The gripping mechanism comprises a mounting frame, a manipulator and a control module. The manipulator is arranged on the mounting frame, and the manipulator is connected to the control mechanism via an electrical signal through the control module.

3. The coal gangue screening device according to claim 2, characterized in that: The mounting frame is provided with a sliding rod extending along a first direction of the conveyor belt, the manipulator is slidably arranged on the sliding rod, and the manipulator can slide away from directly above the conveyor belt.

4. The gangue screening device according to claim 3, characterized in that: There are multiple slide bars, which are spaced apart along the conveying direction of the conveyor belt, and each of the slide bars is slidably provided with the manipulator, and each of the manipulators is connected with the control mechanism via an electrical signal of the control module.

5. The gangue screening device according to claim 3, characterized in that: The gripping mechanism further comprises a collecting box, which is arranged on the mounting frame and located on one side of the conveyor belt. The manipulator can slide between directly above the conveyor belt and directly above the collecting box.

6. The coal gangue screening device according to claim 5, characterized in that: The collection box is provided with a first connection block, and the mounting frame is provided with a second connection block, and the first connection block is detachably connected to the second connection block through a pin.

7. The coal gangue screening device according to claim 6, characterized in that: A pulley is arranged at the bottom of the collecting box.

8. The coal gangue screening device according to claim 2, characterized in that: The manipulator comprises a base, a plurality of mechanical arms and a gripper which are movably connected in sequence, and the base is arranged on the mounting frame.

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