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In the process of mining, raw coal is often mixed with various kinds of iron, anchor rod, anchor cable, mesh, damaged tape, cable head, wood and other waste materials. In addition, the domestic waste (such as plastic bottles, plastic bags, etc.) generated by underground operations will also be mixed into the raw coal. The debris in coal is easy to block pipes, chutes, valves, sieve holes and other components, which has become one of the main factors that plague the continuous production of coal preparation plants. The sundries in the coal may block the transportation system, reduce the efficiency of the desliming and disintermediation system, and cause running, emitting, dripping and leakage. In heavy cases, it may cause scratches on the belt conveyor or blockage of sorting equipment, resulting in equipment failure and product quality accidents. If the debris into the commercial coal, in the process of using commercial coal, there may be due to the existence of some debris and lead to the use of equipment damage, boiler explosion and other safety accidents, resulting in serious economic losses, and even casualties. The existence of sundries also restricts the development of export coal business, often leading to unnecessary business disputes and claims, causing undue economic losses to coal production enterprises.
Removing debris from coal is both an old and a new problem. Whether it is coal production enterprises or coal enterprises, never ignored the coal in the debris sorting work. Especially in recent years, the problem of sorting debris in coal has become more and more prominent, and the requirements for the sorting effect of debris have become higher and higher. In the past, the efficiency of "three suction and one sieve" was low, which could not meet the requirements of removing all kinds of debris in coal.
At present, in the removal of metal debris, the use of electromagnetic iron remover multi-stage iron removal method is very good. For the wood debris in coal, most of the domestic and foreign use in the process system set up crushing, screening and other processing links to separate, there are also examples of the use of clear water vertical wheel sorter, inclined wheel sorter or slot sorter to remove wood chips. In general, these methods have some effect, but there are also some shortcomings. Mechanical devices such as impurity-blocking nets and impurity-removing hooks are also commonly used impurity-removing methods in recent years, but the impurity-removing efficiency is low, and frequent inspection and maintenance of the impurity-removing device are required, which has great application limitations.
In order to reduce the amount of sundries in commercial coal, most coal preparation plants generally set up manual hand selection links on the lump coal hand selection belt conveyor to pick up and remove sundries, but there are problems such as low picking rate of sundries, high labor intensity of employees and low safety factor.
Judging from the status of the debris separation equipment currently in use in China, low efficiency, many failures and large maintenance are the main factors restricting the promotion and use of coal debris separation equipment. In order to solve the influence of sundries on coal production, aiming at the mixed condition of sundries in coal, a kind of intelligent sorting system of sundries in coal based on intelligent recognition of machine vision and accurate grasping by manipulator was researched and developed (hereinafter referred to as "intelligent sorting system of sundries"), which was successfully applied in Huabei Mining Group Huanbei Coal Preparation Plant.
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