煤矿智能化是实现煤炭工业高质量发展的核心技术支撑，煤矸在线分拣机器人可实现煤和矸石的自动识别与分拣，是实现煤矿智能化分选的重要装备。在总结国内外煤矸分拣机器人和煤矸图像识别技术的研究现状和成果基础上，针对煤矸自动分拣机器人分拣速度低，智能化程度不高等问题，设计了一种基于图像识别的Delta型并联机器人应用于煤矸自动分拣领域。阐述了煤矸分拣机器人的工作原理和设计方案，针对煤矸分拣的特定工况场景，对工业相机、光源、镜头等图像识别系统的硬件进行了选型设计。提出了一种基于灰度和纹理特征融合的煤矸图像SVM识别算法，介绍了机器人控制系统的软件功能设计方法，最后搭建了试验平台并进行了多组煤矸在线识别分拣试验。结果表明，该并联机器人可有效对煤和矸石进行自动识别，并通过控制机器人气动机械手实现对6 kg以下的矸石抓取。针对设计及试验过程中遇到的问题，进一步提出了机器人刚柔耦合动力学模型和误差传递规律、基于深度学习和多特征融合的煤矸石识别算法、考虑外部负载干扰的并联机器人自适应稳定控制策略等关键技术，为进一步加快煤矸分拣并联机器人的推广应用，最终实现煤矿智能化、无人化分选提供一种新途径。

The intellectualization of coal mine is the core technology to realize the high-quality development of coal industry. The coal-gangue sorting robot can realize the automatic sorting of coal and gangue, which is an important equipment to realize the coal mine intelligent washing. On the basis of reviewing the research and practice results of coal gangue sorting robot and image recognition at home and abroad. In order to solve the low speed and low intelligence of coal gangue sorting robot, a delta robot with image recognition system was adopted to coal gangue automatic separate, which had been widely used in packaging and sorting industry. The work principle and design scheme of this robot were expounded in detail, the hardware devices such as industrial cameras, light sources, lens, etc were selected. A SVM recognition algorithm based on the fusion of grayscale and texture features was proposed. The software design method of robot control system was introduced. Moreover, an experimental platform was built for conducting online coal gangue sorting experiments. The results shown that the parallel robot could not only identify coal and gangue effectively, but also grasp the gangue less than 6 kg by controlling the pneumatic manipulator. Furthermore, the key technologies of the robot were put forward, including the rigid flexible coupling dynamic model and the rule of errors transfer, the coal gangue recognition algorithm based on the multi-feature fusion and deep learning, and the adaptive stability control strategy for parallel robot with external load disturbance. The research results in this paper will accelerate extensive application of the coal-gangue sorting parallel robot, and also provided a new way to realize the intellectualization and unmanned washing of coal mine.