智能机器人拣矸系统的设计研究  

Design and research of intelligent robot refuse picking system

作　　者：宋文革 陶亚东[1] 齐成军 谢新兵 周瑞通 吕宏广 

机构地区：[1]神华神东煤炭集团洗选中心,陕西榆林719000 [2]山东博润工业技术股份有限公司,山东淄博255000

出　　处：《煤炭加工与综合利用》2018年第9期5-8,共4页Coal Processing & Comprehensive Utilization

摘　　要：为解决原煤湿法排矸水资源消耗量大、人工拣矸劳动强度大、效率低等问题,设计了一种基于双能X射线识别和三维机械抓手抓取目标矸石的在线智能拣矸系统;论述了该拣矸系统的工作原理、设计原理和系统构成;实验表明,对于粒度300~50 mm的原煤,带式输送机带速为0. 5~0. 8 m/s时,从煤矸识别至抓取动作完成,最多只需耗时3 s,矸石拣出率超过90%,矸石误拣率低于5%,单机系统处理能力达到100 t/h左右。In order to solve the problems of large water consumption during coal wet processing,high labor intensity and low efficiency of refuse hand picking,an online intelligent refuse picking system based on dual-energy X-ray recognition and 3 D mechanical gripper grabbing target refuse has been designed. The working principle,design principle and specific structural design of the picking system are discussed. The experiment shows that for the raw coal with the size of 300 ～ 50 mm,when the belt conveyor speed is 0. 5 ～ 0. 8 m/s,it takes only 3 seconds to complete the process from identification to grabbing refuse. The refuse picking rate is over 90%, the refuse picking error rate is less than 5%,and the processing capacity of single-machine system is about 100 t/h.

关 键 词：智能机器人拣矸系统 X射线 智能识别 机械抓手 设计原理 

分 类 号：TD945.4[矿业工程—选矿]