捡矸机器人在大柳塔选煤厂的应用

Application of gangue picking robot in Daliuta coal preparation plant

为减少原煤中矸石含量,提高商品煤产率,降低工人作业强度,选煤厂在原煤段手选带增加一套智能拣矸机器人进行试验,根据煤和矸石识别准确率及矸石抓取捡出率等指标进行综合评估。煤、矸石识别准确率分别为95.23%、95.78%,可抓取50~400 mm大块矸石,单套机械臂每次循环平均处理速率3.2 s、最大抓取质量为30 kg。当输送带上方同一水平线同时存在6块以上矸石时,该套机械臂能力略显不足,存在漏检现象,抓取捡出率平均56.68%。该套设备从根本上解决了拣矸作业人员作业效率低下、分拣精度差等问题,同时可在原有基础上增加机械臂数量,控制多机械臂,增加备用机械臂,将智能机器人图像识别系统融入智能识别、分析、学习、算法、有害物监测、高温监测、报警等其他功能,进一步优化完善该类型机器人,可推广应用于各行业。

In order to reduce the content of gangue in raw coal,improve the yield of commercial coal and reduce the working intensity of workers,a set of intelligent robot for picking gangue was added to raw coal preparation plant.The application effect was evaluated according to the accuracy of coal and gangue identification and the rate of gangue grasping and picking up.The recognition accuracy of coal and gangue is 95.23%and 95.78%,respectively.50-400 mm large gangue can be grasped.The average processing speed of single manipulator is 3.2 s/cycle,and the maximum grasping mass is 30 kg.When there are more than 6 gangue in the same horizontal line above the conveyor belt,the ability of the manipulator is not enough,there is the phenomenon of missed detection,the average pick-up rate is 56.68%.This set of equipment can solve the problems of low efficiency and poor sorting precision of refuse-picking operators.It can increase the number of mechanical arms,control multiple mechanical arms and increase the number of standby mechanical arms,the image recognition system of intelligent robot is integrated into other functions such as intelligent recognition,analysis,learning,algorithm,harmful substance monitoring,high temperature monitoring,alarm and so on.To further optimize and perfect robot,it can be popularized and applied in various industries.