铁精矿智能工业机器人——无人装运系统  

Intelligent Industrial Robot Loading System for Ironore Powder Warehouse

作　　者：于继明 徐伟 刘国榜 肖泽龙[3] YU Jiming;XU Wei;LIU Guobang;XIAO Zelong(School of Mechanical and Electrical Engineering,Jinling Institute of Technology,Nanjing 211169,China;Nanjing Baodi Meishan Industrial City Development Co.,Ltd,Nanjing 210041,China;School of Electronic and Optical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]金陵科技学院机电工程学院,江苏南京211169 [2]南京宝地梅山产城发展有限公司,江苏南京210041 [3]南京理工大学电子工程与光电技术学院,江苏南京210094

出　　处：《金属矿山》2020年第12期190-195,共6页Metal Mine

摘　　要：随着智能制造在矿山行业的应用,铁精矿堆料仓库智能化、无人化发货的需求越来越紧迫。铁精矿粉颗粒极细,矿堆表面形状极不规则,有吸波、漫反射、信号等干扰因素,无人值守机器人系统在抓取点精准选取方面具有极大挑战性,易发生抓斗下部滑槽、上部爬绳事故,从而造成发货业务中断。因铁精矿粉发货的上述特点,研制具有精确采集高度、智能调度、自动化装运技术于一体的智能装运系统难度非常高,目前尚未见到具有系统性、实用性、智能化的铁精矿无人值守工业机器人装运系统。项目小组经过3年的研究,攻克了铁精矿高度采集雷达、铁精矿粉三维分布及调度处理算法等关键技术,研制出铁精矿工业机器人装运系统,可应用于工矿企业堆料仓库、港口码头散料的全自动发货工作。在宝钢梅山矿业公司上线应用测试,效果良好,推广应用前景广阔。With the application of Intelligent Manufacturing in the mining industry,the demand for intelligent and unmanned delivery of iron concentrate warehouse is more and more urgent.The particle size of iron mineral powder is very small,the surface shape is very irregular,and there are absorbing wave,diffuse reflection,signal interference and other factors. The unattended robot system has a great challenge in the accurate selection of grab point,which is easy to cause the lower chute and upper rope climbing of grab,and cause the delivery business interruption. Because of the above characteristics of iron mineral powder,it is very difficult to develop an intelligent shipping system with precise collection,intelligent scheduling and automatic shipping technology.At present,there is no systematic,practical and intelligent unattended industrial robot system. After three years of research,the project team has conquered the key technologies of the iron concentrate unattended system,developed the key technologies such as the iron concentrate height acquisition radar,three-dimensional distribution and scheduling processing algorithm,and developed the iron concentrate industrial robot shipping system,which can be applied to the full-automatic delivery of bulk materials in the stacking warehouse of industrial and mining enterprises and port terminals. Baosteel Meishan Mining Co.ltd needs on-line application test,with good effect and broad application prospect.

关 键 词：工业机器人 三维建模 智能装运 微波雷达 

分 类 号：TD921[矿业工程—选矿]