Shenhua Junge Energy Co. , LTD. Coal preparation plant, Ordos
College of Chemical and Environmental Engineering, China University of Mining and Technology

目前选煤厂固化封尘剂智能加药过程自动化程度低,码垛与拆垛过程需要大量的人工参与,人工效率低,容易出现错误,直接关系选煤厂的经济效益。介绍了码垛拆垛机器人技术原理与系统架构,将先进的自动码垛与拆垛技术引进固化封尘剂智能加药系统,研发的自动码垛和拆垛系统包含:胶带输送单元、振平单元、机器人及地轨单元、滚筒输送单元、拆包称重单元和废袋收集单元,为选煤厂固化封尘剂智能加药系统提供了一种全自动技术方案。

At present, the intelligent dosing process of solidifying dust collector in coal preparation plant has a low degree of automation, and the palletizing and destacking process requires a lot of manual participation, while the manual efficiency is low and prone to errors, which will directly affect the economic benefits of the coal preparation plant. Therefore, in the face of the needs of industrial upgrading, it is imperative to introduce advanced automatic palletizing and depalletizing technology into the intelligent dosing system of solidifying dust sealant. The automatic palletizing and depalletizing system developed by us includes: belt conveying unit, vibrating unit, robot and ground rail unit, drum conveying unit, unpacking weighing unit, waste bag collection unit, which provides a fully automatic technical solution for the intelligent dosing system of solidifying dust collector in coal preparation plant.

1 研究内容
1.1 码垛拆垛机器人技术原理与系统架构
1.1.1 码垛拆垛机器人的基本原理和结构
1.1.2 机器人的硬件和软件系统
1.1.3 机器人的运动控制和路径规划
1.2 自动码垛系统研究
1.2.1 胶带输送单元
1.2.2 振平压实单元
1.2.3 滚筒输送单元
1.2.4 机器人以及地轨单元
1.3 自动拆垛系统研究
(1)拆垛专用机器人(图5)。
(2)拆垛抓手(图6)。
(3)视觉系统。
1.4 自动加料系统研究
1.5 固化封尘剂智能加药方案
2 结 语

高鹏,张兆征,武彦,等.码垛和拆垛机器人在封尘剂智能加药系统中的应用[J].煤炭加工与综合利用,2024(3):100-104.