关键词: 煤矸分拣, 多机械臂, 矸石优先级, 分拣时间, 分拣策略

Abstract: For the coal gangue sorting process sorting rate is low, large gangue sorting effect is poor and other problems, by considering the gangue particle size, sorting time, gangue and sorting area boundary distance and other factors, the construction of gangue priority model, proposed a coal gangue sorting multi mechanical arm task allocation strategy, and the sorting rate as the standard for evaluation. Finally, using the distribution strategy of this paper for simulation, the results show that the allocation strategy in this paper works better than the traditional strategy, improves the sorting rate, reduces the leakage of large size gangue, when the gangue spacing is constant, the number of gangue changes, the sorting rate fluctuates less, in about 3%, to verify the effectiveness of the distribution strategy in this article ; gangue spacing has a greater impact on the sorting rate and the number of sorting robotic arms, when the spacing of gangue increases, the sorting rate increases; when the gangue spacing is above 250mm, three sorting robotic arms can ensure a higher sorting rate.