Foreign matter online identifying and grabbing system for mining belt conveyor

Abstract

The utility model provides an online foreign matter identifying and grabbing system for a mining belt conveyor, and belongs to the technical field of foreign matter detection. The problems existing in research of a foreign matter on-line intelligent detection and dynamic grabbing control method under the high-speed state of a coal mine underground belt conveyor are solved. The system comprises monitoring substations arranged at the position of a belt conveyor in a mine, each monitoring substation is provided with a measuring grating, a control box, a mechanical arm and a telescopic stand column, and the measuring gratings comprise transverse gratings and longitudinal gratings which are arranged on the two sides of a belt at intervals and placed in pairs. A pair of transverse gratings and a pair of longitudinal gratings serve as a group of measuring gratings; the mechanical arm and the control box are both installed on the telescopic stand column, and the telescopic stand column is installed at the tail end of each monitoring substation in the belt conveying direction, so that the mechanical arm of each monitoring substation is located on the belt conveyor head side. The device is applied to on-line identification and grabbing of the foreign matters of the belt conveyor.

Description

Technical Field

[0001] The utility model provides a foreign body online identification and grabbing system for a mining belt conveyor, belonging to the technical field of monitoring devices and grabbing equipment. Background Art

[0002] While coal mine safety has gradually improved with the advancement of mining technology, compared to other industries, coal mine accidents remain a significant challenge for coal mine safety management in my country. Faced with the increasingly severe coal mine safety situation, proactively detecting potential accidents and improving coal mine efficiency are pressing issues. my country's coal mining is primarily underground. Underground coal mine transportation systems, along with mining, tunneling, electromechanical, and ventilation systems, play a crucial role in coal mine safety. Covering a wide area, employing a wide variety of equipment, and transporting a wide variety of objects, they represent the primary link in underground coal mine production, with a high labor force and high accident frequency. Belt conveyors, due to their high transport capacity, high reliability, ease of use and maintenance, and low energy consumption, are widely used in coal mining, processing, and transportation, forming the backbone of the coal mine transportation system.

[0003] To improve coal mine production efficiency, belt conveyors typically operate at high speeds and are generally long. However, due to the harsh and limited conditions in underground coal mines, large pieces of coal gangue, wooden sticks, anchors, metal mesh, iron rods, and other foreign objects are often mixed into the coal production and transportation process. These can easily cause conveyor belts to tear, become clogged at joints, and break. These problems can even damage production equipment, leading to mine shutdowns and significant economic losses. In severe cases, they can cause serious accidents and threaten the lives of coal miners. Therefore, coal mines currently rely on manual inspections to monitor belt conveyors for foreign objects, and use methods such as manual cleaning, wind suction, vibration cleaning, and electromagnetic suction to remove foreign objects.

[0004] However, the belt conveyor is very long, the amount of dust is large, the lighting is uneven, and the field of vision is limited. It is difficult to accurately detect all foreign matter using manual inspection methods, especially foreign matter that is heavily wrapped in coal slime. This makes the existing foreign matter handling method sorting efficiency low, and foreign matter with irregular shapes and large volumes needs to be stopped for manual sorting. This not only greatly reduces the production efficiency of coal mines and increases the labor intensity of workers, but also poses a huge safety hazard and cannot meet the needs of intelligent, reduced-manpower, efficient, and safe production in coal mines.

[0005] Currently, there are methods and devices for identifying foreign objects using X-rays, lasers, and image recognition, but these still face challenges in hardware design and software processing, such as high cost and poor adaptability. Therefore, research on online identification and dynamic capture of foreign objects in high-speed mining belt conveyors can ensure the safe operation of raw coal transportation systems. This not only has high economic value but also great social significance, laying the theoretical foundation for the ultimate realization of "reduced-manpower" or even "unmanned" fully mechanized mining faces. Utility Model Content

[0006] Aiming at the problems existing in the research on online intelligent detection and dynamic grasping control methods of foreign objects in high-speed state of underground belt conveyors in coal mines, such as limited field of view underground, high belt running speed, long distance, many types of foreign objects in coal flow, and different shapes and weights, this utility model takes the belt conveyor for transporting coal flow in mines as the research object, and proposes an online foreign object identification and grasping system for mine belt conveyors to improve the economic and safety benefits of mine production.

[0007] The technical solution adopted by the utility model is: an online foreign body identification and grasping system for a mining belt conveyor, comprising a monitoring substation arranged at the belt conveyor in a mine, each monitoring substation being provided with a measuring grating, a control box, a mechanical arm and a retractable column, wherein the measuring grating comprises a pair of transverse gratings and a longitudinal grating arranged at intervals on both sides of the belt, wherein a pair of transverse gratings and a pair of longitudinal gratings constitute a set of measuring gratings;

[0008] The robotic arm and control box are both installed on a retractable column. The retractable column is installed at the end of the belt conveying direction of each monitoring substation, so that the robotic arm of each monitoring substation is located on the head side of the belt conveyor. The measuring grating communicates with the embedded microcomputer in the control box through the RS485 communication line, and the control end of the robotic arm communicates with the embedded microcomputer in the control box.

[0009] Furthermore, the transverse grating is placed transversely, the longitudinal grating is placed vertically, and the transverse grating is higher than the belt.

[0010] Furthermore, the retractable column includes an upper support column and a lower support column, wherein the upper support column is sleeved in the lower support column, and support plates are fixed on the sides of the upper support column and the lower support column, the chassis of the jack is installed on the support plate of the lower support column, and the head of the jack is installed on the support plate of the upper support column.

[0011] Furthermore, the robotic arm and the control box are fixed to the retractable column via a clamping plate.

[0012] Furthermore, the robotic arm adopts a three-joint robotic arm.

[0013] Furthermore, the three-joint manipulator includes a base, a first joint, a second joint, a first arm, a third joint, a second arm and an end effector, the first joint is installed on the top of the base, the second joint is connected between the first joint and the first arm, the third joint is connected between the first arm and the second arm, and the end effector is installed at the end of the second arm.

[0014] Furthermore, the first joint is a base rotation joint, which is a horizontal rotation joint; the second joint is a first arm pitch joint; and the third joint is a second arm deflection joint.

[0015] Furthermore, the end effector adopts a clamping mechanism.

[0016] Furthermore, a camera is installed on the end effector.

[0017] Furthermore, the embedded microcomputer in the control box of each monitoring substation communicates with the monitoring main station set up in the mine.

[0018] The beneficial effects of the present invention compared to the prior art are:

[0019] (1) It realizes the online identification and dynamic capture of foreign objects in the high-speed state of mining belt conveyors, which has high economic value;

[0020] (2) Safe and reliable, low power consumption, no high voltage, high current and other devices are used, and there is no need to consider issues such as explosion-proof;

[0021] (3) Relying on positive pressure to generate friction to replace fasteners such as expansion bolts, it is easy to disassemble and assemble;

[0022] (4) It mainly occupies vertical space, reduces horizontal space occupation, and has high space utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the structure of the monitoring substation of the utility model;

[0025] Figure 2 It is a structural diagram of a retractable column;

[0026] Figure 3 It is a structural diagram of the robotic arm;

[0027] In the figure: 1 is a belt conveyor, 2 is a transverse grating, 3 is a longitudinal grating, 4 is a retractable column, 5 is a robotic arm, and 6 is a control box;

[0028] 41 is an upper support column, 42 is a lower support column, 43 is a jack, and 44 is a splint;

[0029] 51 is a base, 52 is a first joint, 53 is a second joint, 54 is a first arm, 55 is a third joint, 56 is a second arm, 57 is an end effector, and 58 is a camera. DETAILED DESCRIPTION

[0030] like Figures 1 to 3 As shown, the utility model provides an online foreign body identification and grasping system for a mining belt conveyor, including a monitoring substation set at a belt conveyor 1 in a mine, each monitoring substation is provided with a measuring grating, a control box 6, a mechanical arm 5 and a retractable column 4, wherein the measuring grating includes a transverse grating 2 and a longitudinal grating 3 placed in pairs at intervals on both sides of the belt, the mechanical arm 5 and the control box 6 are both mounted on the retractable column 4 through a clamping plate 44, and the retractable column 4 is mounted at the end of the transmission direction of the belt conveyor 1 of the substation, so that the mechanical arm 5 of each monitoring substation is located on the head side of the belt conveyor, and the measuring grating communicates with the embedded microcomputer in the control box 6 through an RS485 communication line.

[0031] In this embodiment, a pair of transverse gratings 2 and a pair of longitudinal gratings 3 can be placed every 200 meters along the belt on both sides of the belt. The transverse grating 2 is 10 cm higher than the belt. Each pair of measuring gratings is pre-numbered, and the information of every 10 pairs of measuring gratings is connected to the embedded microcomputer in the control box 6. These 10 pairs of measuring gratings communicate with the embedded microcomputer via the RS485 communication interface. The RS485 of the embedded microcomputer and the 10 pairs of measuring gratings is a one-to-many master-slave connection. The information is sent using the MODBUS protocol, and the first byte in the data frame is the grating number.

[0032] The mechanical arm 5 and the control box 6 in the present invention are supported by the telescopic column 4. Figure 2 As shown, the telescopic column 4 consists of an upper support column 41 and a lower support column 42. A jack 43 is fixed to the lower support column 42. The jack 43 is bolted to the support plate of the upper support column 41. The upper support column 41 and the lower support column 42 are made of round tubes. The inner diameter of the upper support column 41 and the outer diameter of the lower support column 42 are of the same nominal size. The upper support column 41 is inserted into the lower support column 42, and the lower support column 42 itself can serve as a guide. The telescopic column 4 is erected and the handle of the jack 43 is manually shaken. The jack 43 drives the upper support column 41 upward until the top surface of the upper support column 41 contacts the top surface of the wall. Then, the handle of the jack 43 is continued to be shaken to make the upper support column 41 firmly support the top plate. A clamp 44 is used to fix the mechanical arm 5, the camera or monitoring device, the control box 6 and other components on the telescopic column 4. The main bodies of the upper support column 41 and the lower support column 42 of the telescopic column 4 can also be made of square tubes or rectangular tubes.

[0033] The structure of the utility model mechanical arm 5 is as follows Figure 3As shown, it is an executive device for grabbing foreign objects from a belt, which is a three-joint manipulator. These joints enable the manipulator arm 5 to have multi-degree-of-freedom movement capabilities, and can flexibly adjust its position and posture in space to meet different operational requirements.

[0034] The robotic arm 5 includes a base 51, a first joint 52, a second joint 53, a first arm 54, a third joint 55, a second arm 56 and an end effector 57. The base 51 is internally integrated with a power drive unit, including a rotary servo motor, a control drive board, a power module, etc., to provide power support for the operation of various parts of the robotic arm 5.

[0035] The first joint 52, or base rotary joint, is located at the top of the base 51 and is a horizontal rotary joint. It primarily consists of a servo motor, a reducer, a high-precision magnetic encoder, and a rotary support structure. The joint rotates 360°, and the rotary support structure utilizes a crossed roller bearing, which can withstand heavy radial and axial loads and ensure smooth rotation. This bearing utilizes a crossed roller assembly to distribute the load evenly, reducing operating noise and vibration compared to traditional structures, providing reliable support for the precision rotary joint.

[0036] The second joint 53, or the first arm pitch joint, is a key structure connecting the first joint 52 and the first arm 54. It primarily consists of a servo motor, a reducer, and a pitch axis. The joint's rotation range is 0 to 180 degrees, sufficient for most industrial operations.

[0037] The third joint 55, or the second arm deflection joint, is located between the first arm 54 and the second arm 56 and is a deflection joint. It consists of a servo motor, a reducer, and a deflection shaft. The second arm 56 can deflect within a certain angle range (0 to 180 degrees), ensuring that the robot arm 5 can efficiently complete tasks within a limited space.

[0038] Arm assembly: This arm assembly consists of a first arm 54 and a second arm 56. Both are constructed of high-strength materials to meet the strength requirements of the robot arm under various operating conditions. A through-channel cable channel is designed within the arm, through which cables are systematically routed. This effectively prevents interference and entanglement between cables during the movement of the robot arm 5, thereby fundamentally improving the safety and reliability of the robot arm 5 during operation.

[0039] End effector 57: The end effector 57 of this robot arm 5 adopts a gripper mechanism. The embedded microcomputer accurately transmits the angle information to the servo motor. After system debugging to ensure that the opening and closing movements of the gripper are smooth and stable, it can efficiently perform various tasks.

[0040] Functional components such as a gripper and a camera 58 can also be installed on the robotic arm 5.

[0041] The principle of foreign body identification and grasping of the utility model is as follows:

[0042] Grating measurement is a precision measurement method based on the principle of light diffraction. This utility model uses the SMTC measuring grating, model SMTCA080592-4N00, to measure foreign matter on belts. It features an 8mm optical axis spacing, RS485 output, and a measurement height of 592mm, placed vertically and horizontally. The grating measurement method measures the area of ​​foreign matter using two sets of measuring gratings, transmitted via RS485. Each substation's embedded microcomputer receives five pairs of longitudinal and five pairs of transverse gratings. When a foreign matter passes, the measurement data from the measuring gratings changes. The embedded microcomputer obtains the signal of the measuring grating of foreign matter through regular inspection, and obtains the current position of the foreign matter according to the number of the measuring grating where the foreign matter is detected; then the time for the foreign matter to reach the robotic arm 5 is calculated according to the running speed of the belt, and the size of the foreign matter is determined according to the data of the longitudinal grating 3 and the transverse grating 2; according to the obtained results, when the foreign matter arrives, the robotic arm 5 is lifted and rotated in real time to reach above the foreign matter on the belt, and the grabbing clamp automatically opens the robotic arm 5 to a certain angle according to the size of the foreign matter, grabs the foreign matter, and then rotates the robotic arm 5 to place the foreign matter on the ground on the side away from the belt.

[0043] When the height measured by the measuring grating is consistent with the belt coal seam height, it is considered that there is no foreign matter on the belt and no identification or grabbing is performed. H ≥10cm, or the length of the foreign body measured by the horizontal measuring grating D When the distance is ≥20cm, it is considered that a foreign object has passed. The embedded microcomputer determines the grating position according to the grating number. RS485 communication adopts MODBUS protocol. The first byte is the grating number. According to the initialization calibration, the distance between the grating number and the robot arm 5 can be determined, that is, the distance between the foreign object position and the grasping device, that is, the robot arm 5. s , and then according to the belt running speed v , calculate the start time of robot arm 5 t = s / v - t 0, where t 0 is the advance of the action time; when the foreign object arrives, the robot arm 5 is lifted and rotated in real time to reach the top of the foreign object, and the gripper is opened according to the size of the foreign object, with a width of >1.5 D , high>1.5 H , then clamp the foreign object, and then rotate the robot arm 5 to place the foreign object on the side of the belt away from the belt, and send the analysis results to the main station system.

[0044] Regarding the specific structure of the present invention, it should be noted that the connection relationship between the various component modules adopted in the present invention is definite and feasible. Except for the special instructions in the embodiments, the specific connection relationship can bring about corresponding technical effects and solve the technical problems raised by the present invention without relying on the execution of the corresponding software program. The components, modules, models of specific components appearing in the present invention, the connection methods between each other, and the conventional usage methods and expected technical effects brought about by the above-mentioned technical features, except for the specific instructions, all belong to the disclosed contents in patents, journal articles, technical manuals, technical dictionaries, and textbooks that can be obtained by technical personnel in this field before the application date, or belong to the existing technologies such as conventional technology and common knowledge in this field, and there is no need to elaborate, so that the technical solution provided in this case is clear, complete, and feasible, and the corresponding physical products can be reproduced or obtained based on this technical means.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An online foreign body identification and grabbing system for a mining belt conveyor, characterized by: The invention comprises a monitoring substation provided at a belt conveyor (1) in a mine, each monitoring substation being provided with a measuring grating, a control box (6), a mechanical arm (5) and a retractable column (4), wherein the measuring grating comprises a pair of transverse gratings (2) and a pair of longitudinal gratings (3) arranged at intervals on both sides of the belt, wherein the pair of transverse gratings (2) and the pair of longitudinal gratings (3) serve as a set of measuring gratings; The mechanical arm (5) and the control box (6) are both mounted on the retractable column (4), and the retractable column (4) is mounted at the end of the belt conveying direction of each monitoring substation, so that the mechanical arm (5) of each monitoring substation is located on the head side of the belt conveyor, and the measuring grating communicates with the embedded microcomputer in the control box (6) through the RS485 communication line, and the control end of the mechanical arm (5) communicates with the embedded microcomputer in the control box (6).

2. The online foreign body identification and grabbing system for a mining belt conveyor according to claim 1 is characterized in that: The transverse grating (2) is placed transversely, and the longitudinal grating (3) is placed vertically, and the transverse grating (2) is higher than the belt.

3. The online foreign body identification and grabbing system for a mining belt conveyor according to claim 1 is characterized in that: The telescopic column (4) comprises an upper support column (41) and a lower support column (42), wherein the upper support column (41) is sleeved in the lower support column (42), and support plates are fixed to the sides of the upper support column (41) and the lower support column (42), a chassis of a jack (43) is mounted on the support plate of the lower support column (42), and a top of the jack (43) is mounted on the support plate of the upper support column (41).

4. The online foreign body identification and grabbing system for a mining belt conveyor according to claim 3 is characterized in that: The mechanical arm (5) and the control box (6) are fixed to the telescopic column (4) via a clamping plate (44).

5. The online foreign body identification and grabbing system for a mining belt conveyor according to claim 1 is characterized in that: The robotic arm (5) adopts a three-joint robotic arm.

6. The online foreign body identification and grabbing system for a mining belt conveyor according to claim 5 is characterized in that: The three-joint manipulator comprises a base (51), a first joint (52), a second joint (53), a first arm (54), a third joint (55), a second arm (56) and an end effector (57), wherein the first joint (52) is mounted on the top of the base (51), the second joint (53) is connected between the first joint (52) and the first arm (54), the third joint (55) is connected between the first arm (54) and the second arm (56), and the end effector (57) is mounted at the end of the second arm (56).

7. The online foreign body identification and grabbing system for a mining belt conveyor according to claim 6, characterized in that: The first joint (52) is a base rotation joint, which is a horizontal rotation joint; the second joint (53) is a first arm pitch joint; and the third joint (55) is a second arm deflection joint.

8. The online foreign body identification and grabbing system for a mining belt conveyor according to claim 6 is characterized in that: The end effector (57) adopts a clamping mechanism.

9. The online foreign body identification and grabbing system for a mining belt conveyor according to claim 6, characterized in that: A camera (58) is also mounted on the end effector (57).

10. The online foreign body identification and grabbing system for a mining belt conveyor according to any one of claims 1 to 9, characterized in that: The embedded microcomputer in each monitoring substation control box (6) communicates with the monitoring main station set up in the mine.

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