Five-finger mechanical gripper mechanism for coal gangue sorting

Abstract

The invention relates to the technical field of coal gangue sorting, in particular to a five-finger mechanical gripper mechanism for coal gangue sorting. Comprising a device body, a conveying belt and a sorting mechanism, the device body is provided with a mounting interval, and the conveying belt divides the mounting interval into a sorting interval and a placing interval. The sorting mechanism comprises mechanical claw assemblies and driving assemblies of various specifications, and the mechanical claw assemblies and the driving assemblies are suitable for grabbing coal gangues of different sizes correspondingly. The driving assembly can achieve accurate positioning and moving of the mechanical claw assembly. The device is further provided with an X-ray generator used for coal gangue recognition, and a rubber pad is arranged on the mechanical claw to reduce abrasion of the mechanical claw. According to the sorting device, the problems that in the prior art, only a three-finger mechanical claw of a single specification is low in efficiency and unstable in grabbing of special-shaped coal gangue can be solved, through cooperative use of mechanical claw assemblies of different specifications, the flexibility and sorting efficiency of the sorting device are improved, the risk that the coal gangue falls off is reduced, and the working efficiency of the sorting device is improved. And the sorting requirements of different working environments and coal gangue sizes are met.

Description

Technical Field

[0001] The invention relates to the technical field of coal gangue sorting, and in particular to a five-finger mechanical claw mechanism for coal gangue sorting. Background Art

[0002] In the process of coal mining and washing, the generation of coal gangue as a solid waste deposited together with coal is inevitable. The composition of coal gangue is complex, including oxides of silicon, aluminum, calcium, magnesium, iron and some rare metals. It has a low carbon content and a calorific value much lower than that of coal when burned. It also contains harmful substances such as sulfur, and direct combustion will cause serious environmental pollution. Therefore, sorting out coal gangue separately when mining coal mines can not only reduce environmental pollution, but also reduce the safety risks caused by accumulation.

[0003] However, traditional gangue sorting devices mainly use a single-size three-finger mechanical claw. Since the gangue produced in coal mining varies in size, when a single-size three-finger mechanical claw is used for sorting, the size of the mechanical claw needs to adapt to the larger volume of gangue commonly seen in mining. This results in too large a grasping stroke when grasping small gangue, increased inertia of the claw, and slower response of the grasping speed. At the same time, in order to match the larger volume of gangue, a larger cylinder is required, which not only causes energy waste, but also increases the overall mass and burden of the equipment, thereby reducing the application scenarios and overall flexibility of the device. Summary of the invention

[0004] The present invention provides a five-finger mechanical claw mechanism for gangue sorting, which can overcome the problems in the prior art that gangue is easy to fall off between the claws, the grasping stability is poor, and the efficiency is low.

[0005] According to the present invention, a five-finger mechanical claw mechanism for sorting coal gangue includes: a device body, the device body includes a mounting frame, and a conveyor belt arranged through the mounting frame; an installation interval is provided in the mounting frame, the conveyor belt divides the installation interval into a sorting interval and a placement interval for storing coal gangue, and the sorting interval includes a sorting mechanism for sorting the coal gangue in the placement interval onto the conveyor belt.

[0006] Through the modular design of the installation interval in the present invention, the flexibility of the sorting device is improved, the coal gangue sorting work can be carried out more accurately, and the sorting efficiency is improved.

[0007] Through the arrangement of the conveyor belt in the present invention, the sorting mechanism transports the grabbed coal gangue to the conveyor belt, and the coal gangue is transported out by the conveyor belt, thereby realizing automatic transportation of the coal gangue and improving the efficiency of coal gangue transportation.

[0008] Preferably, the sorting mechanism includes a mechanical claw assembly for grabbing coal gangue, and a driving assembly for driving the mechanical claw assembly to move; the driving assembly includes transverse moving rods respectively arranged on both sides of the top of the mounting frame, and a longitudinal moving rod arranged perpendicular to the transverse moving rod; the transverse moving rod is provided with a transverse moving block for controlling the longitudinal moving rod to slide along the length direction of the transverse moving rod; the transverse moving block is fixedly connected to the longitudinal moving rod, and the longitudinal moving rod is provided with a longitudinal moving block for controlling the mechanical claw assembly to move along the length direction of the longitudinal moving rod; the mechanical claw assembly is fixedly connected to the lower end of the longitudinal moving block.

[0009] The lateral moving rod and the longitudinal moving rod in the present invention work together to achieve precise positioning and movement of the mechanical claw assembly in a two-dimensional plane. The lateral and longitudinal movements are respectively controlled by the lateral moving block and the longitudinal moving block to ensure that the mechanical claw assembly accurately reaches the specified position, accurately locates and grabs the coal gangue, and improves the sorting accuracy.

[0010] Preferably, the driving assembly also includes a motor for driving the mechanical claw assembly to move axially within the mounting frame, and the motor is fixedly connected to the transverse moving rod and the longitudinal moving rod.

[0011] The motor in the present invention provides driving force to ensure stable operation of the lateral moving rod and the longitudinal moving rod, and due to the high control accuracy of the motor, accurate positioning and motion control of the mechanical claw assembly can be achieved.

[0012] Preferably, the mechanical claw assembly includes a first mechanical arm for grabbing coal gangue, the first mechanical arm includes a first moving cylinder fixedly connected to the longitudinal moving block, the first moving cylinder is used to push the mechanical claw assembly to perform linear reciprocating motion, and a first moving cylinder push rod is provided at the first moving cylinder; the lower end of the first moving cylinder push rod is fixedly connected to the first grabbing cylinder for controlling the mechanical claw assembly to grab and place coal gangue, and the first grabbing cylinder is provided with a first grabbing cylinder push rod; the lower end of the first grabbing cylinder is connected to the first mechanical claw for grabbing coal gangue, the first mechanical claw includes a first movable platform connected to the lower end of the first grabbing cylinder push rod, and a first base fixedly connected to the lower end of the first grabbing cylinder, the first movable platform is arranged inside the first base, and a plurality of first straight rods distributed circumferentially through the bottom of the first base are provided at the first movable platform, and the end of the first straight rod away from the first base is hinged to the first connecting rod; a first bending rod corresponding to the first straight rod is fixedly connected to the bottom edge of the first base; a first finger is hinged to the lower end of the first connecting rod and the lower end of the first bending rod.

[0013] According to the present invention, when the driving component drives the first mechanical arm to reach the designated coal gangue grabbing position, the first grabbing cylinder pushes out the first grabbing cylinder push rod, driving the first movable platform fixed thereto, and the first straight rod pushes the first connecting rod to open the first mechanical claw to the maximum distance, and the first movable cylinder pushes out the first movable cylinder push rod to make the first grabbing cylinder and the opened first mechanical claw move downward to the range of grabbing coal gangue, and the first grabbing cylinder retracts the first grabbing cylinder push rod to make the first mechanical claw close, and after tightly grasping the coal gangue, the first movable cylinder retracts the first movable cylinder push rod, and the driving component is equipped with The first movable platform, the first base and the first finger are used to form a three-point structure, which is connected to the first bending rod through the first connecting rod. The grabbing action can be realized more flexibly, and the smaller-sized coal gangue can be stably grabbed, which reduces the risk of coal gangue falling off.

[0014] Preferably, the mechanical claw assembly includes a second mechanical arm for grabbing small coal gangue, the second mechanical arm includes a second moving cylinder fixedly connected to the longitudinal moving block, the second moving cylinder is used to push the mechanical claw assembly to make linear reciprocating motion, and a second moving cylinder push rod is provided at the second moving cylinder; the lower end of the second moving cylinder push rod is fixedly connected to a second grabbing cylinder for controlling the mechanical claw assembly to grab and place coal gangue, and a second grabbing cylinder push rod is provided at the second grabbing cylinder; the lower end of the second grabbing cylinder is connected to a second mechanical claw for grabbing coal gangue, and the second mechanical claw includes a second grabbing cylinder push rod fixedly connected to the second grabbing cylinder push rod. A movable frame connected to the lower end of the cylinder push rod, and a fixed base fixedly connected to the lower end of the second grabbing cylinder, the movable frame is arranged inside the fixed base; a plurality of fixed frame connecting rods are hinged at the lower end of the movable frame, and the fixed frame connecting rods are distributed in a circle; a plurality of fixed blocks corresponding to the fixed frame connecting rods are arranged at the lower edge of the fixed base, a straight connecting rod is hinged at the edge of the lower end of the fixed block away from the fixed base, a curved connecting rod is hinged at the edge of the lower end of the fixed block close to the fixed base, and the bent part of the curved connecting rod is hinged to one end of the fixed frame connecting rod away from the fixed base; a second finger is hinged at the lower end of the straight connecting rod and the lower end of the curved connecting rod.

[0015] When the driving assembly drives the second mechanical arm to the designated coal gangue grabbing position in the present invention, the second grabbing cylinder pushes out the second grabbing cylinder push rod, drives the movable frame fixed thereto, so that the fixed frame connecting rod pushes the curved connecting rod, so that the second mechanical claw opens to the maximum distance, and the second movable cylinder pushes out the second movable cylinder push rod, so that the second grabbing cylinder and the opened second mechanical claw move downward to the range of grabbing coal gangue, and the second grabbing cylinder retracts the second grabbing cylinder push rod to make the second mechanical claw close, and after tightly grasping the coal gangue, the second movable cylinder retracts the second movable cylinder push rod, and moves to the conveyor belt with the cooperation of the driving assembly, and the second movable cylinder pushes out the second movable cylinder push rod. The moving cylinder push rod makes the coal gangue stay above the conveyor belt, and the second grabbing cylinder pushes out the second grabbing cylinder push rod to release the second mechanical claw, and the coal gangue is transported out through the conveyor belt; the opening and closing actions of the mechanical claw are realized through the coordinated work of the second moving cylinder and the second grabbing cylinder, and the parallelogram structure formed by the hinged connection of the movable frame, the fixed base, the fixed frame connecting rod, the straight connecting rod, and the curved connecting rod together constitute the mechanical claw, and the fixed frame connecting rod connects the curved connecting rod and the movable frame, which can reduce the size of the movable frame connecting rod, making the mechanical claw structure more compact and the grasping more flexible, thereby realizing stable grasping of medium-sized coal gangue and reducing the risk of coal gangue falling off.

[0016] Preferably, the mechanical claw assembly includes a third mechanical arm for grabbing coal gangue, the third mechanical arm includes a third moving cylinder fixedly connected to the longitudinal moving block, the third moving cylinder is used to push the mechanical claw assembly to perform linear reciprocating motion, and a third moving cylinder push rod is provided at the third moving cylinder; the lower end of the third moving cylinder push rod is fixedly connected to a third grabbing cylinder for controlling the mechanical claw assembly to grab and place coal gangue, and a third grabbing cylinder push rod is provided at the third grabbing cylinder; the lower end of the third grabbing cylinder is connected to a third mechanical claw for grabbing coal gangue, and the third mechanical claw includes a third A second movable platform is connected to the lower end of the push rod of the grabbing cylinder, and a second base is fixedly connected to the lower end of the third grabbing cylinder, the second movable platform is arranged in the second base; a plurality of second straight rods are circumferentially distributed on the second movable platform and penetrate the bottom of the second base, and a second connecting rod is hinged at one end of the second straight rod away from the second base; a second curved rod is arranged on the bottom edge of the second base and distributed in a circle corresponding to the second straight rod, and a third connecting rod is hinged at one end of the second curved rod away from the second base; a third finger is hinged at one end of the second connecting rod away from the second straight rod and one end of the third connecting rod away from the second curved rod.

[0017] When the driving assembly of the present invention drives the third mechanical arm to reach the designated coal gangue grabbing position, the third grabbing cylinder pushes out the third grabbing cylinder push rod, driving the second movable table fixed thereto, the second straight rod pushes the second connecting rod, driving the third connecting rod, so that the third mechanical claw is opened to the maximum distance, the third moving cylinder pushes out the third moving cylinder push rod, so that the third grabbing cylinder and the opened third mechanical claw move downward to the range of grabbing coal gangue, the third grabbing cylinder retracts the third grabbing cylinder push rod, so that the third mechanical claw performs a closing action, and after tightly grasping the coal gangue, the third moving cylinder retracts the third moving cylinder push rod, and the driving assembly is equipped with The third movable table, the second base and the third finger are connected to form a three-point structure, which is connected by the second connecting rod and the third connecting rod to reduce the volume of large mechanical claw components, realize the grabbing action more flexibly, realize the stable grabbing of larger-sized coal gangue, and reduce the risk of coal gangue falling off.

[0018] Preferably, a plurality of circumferentially distributed shaft sleeves are provided at the first base and the second base, and the shaft sleeves are used to cooperate with the first straight rod and the second straight rod; shaft sleeve retaining rings are also provided at the shaft sleeves for fixing the shaft sleeves on the base.

[0019] Through the design of the sleeve and sleeve retaining ring in the present invention, the sleeve provides a smooth moving track, reducing the direct friction between the straight rod and the base. The sleeve retaining ring fixes the position of the sleeve to prevent it from falling off during movement, ensuring the stable movement of the straight rod and reducing shaking and deviation.

[0020] Preferably, an X-ray generator for identifying coal gangue is also provided on the inner side wall of the installation frame.

[0021] The X-ray generator in the present invention emits X-rays to identify the coal gangue, which are received by the detector and converted into digital signals, which are transmitted to the control system. The control system then selects a suitable mechanical claw assembly to grasp the gangue according to parameters such as weight and volume, thereby reducing errors in manual identification and improving sorting accuracy and efficiency.

[0022] Preferably, the mechanical claw assembly is provided with a rubber pad for reducing the wear of the mechanical claw when grabbing coal gangue.

[0023] By covering the surface of the mechanical claw with the rubber pad in the present invention, direct friction between the mechanical claw and the coal gangue is reduced, the mechanical claw is protected and the stability of grabbing the coal gangue is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the five-finger mechanical claw mechanism.

[0025] Figure 2 This is the top view of the five-finger mechanical claw mechanism.

[0026] Figure 3 A front view of the device with the first and second robotic arms assembled.

[0027] Figure 4 A front view of the device with the second and third robotic arms assembled.

[0028] Figure 5 Schematic diagram of the first robotic arm.

[0029] Figure 6 Schematic diagram of the second robotic arm.

[0030] Figure 7 This is a schematic diagram of the third robotic arm.

[0031] Figure 8 Schematic diagram of the first mechanical claw.

[0032] Fig. 9 Schematic diagram of the second mechanical claw.

[0033] Fig.10 Schematic diagram of the third mechanical claw.

[0034] Fig.11 This is the working flow chart of the five-finger mechanical claw mechanism. DETAILED DESCRIPTION

[0035] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the embodiments. It should be understood that the embodiments are only for explaining the present invention and are not intended to limit it.

[0036] Example 1 like Figure 1-3 As shown, this embodiment provides a five-finger mechanical claw mechanism for sorting coal gangue, which includes: a device body 100, the device body includes a mounting frame 200, and a conveyor belt 110 arranged through the mounting frame 200; an installation interval 210 is arranged in the mounting frame 200, and the conveyor belt 110 divides the installation interval 210 into a sorting interval 220 and a placement interval 230 for storing coal gangue, and the sorting interval 220 includes a sorting mechanism 300 for sorting the coal gangue in the placement interval 230 onto the conveyor belt 110.

[0037] Through the modular design of the installation section 210 in this embodiment, the flexibility of the sorting device is improved, the coal gangue sorting work can be performed more accurately, and the sorting efficiency is improved.

[0038] Through the provision of the conveyor belt 110 in this embodiment, the sorting mechanism 300 transports the grabbed coal gangue to the conveyor belt 110, and the conveyor belt 110 transports the coal gangue out, thereby realizing automatic transportation of the coal gangue and improving the efficiency of coal gangue transportation.

[0039] like Figure 3 As shown, in this embodiment, the sorting mechanism 300 includes a mechanical claw assembly 310 for grabbing coal gangue, and a driving assembly 320 for driving the mechanical claw assembly 310 to move; the driving assembly 320 includes lateral moving rods 321 respectively arranged on both sides of the top of the mounting frame 200, and a longitudinal moving rod 322 arranged perpendicular to the lateral moving rod 321; a lateral moving block 323 for controlling the longitudinal moving rod 322 to slide along the length direction of the lateral moving rod 321 is provided at the lateral moving rod 321; the lateral moving block 323 is fixedly connected to the longitudinal moving rod 322, and a longitudinal moving block 324 for controlling the mechanical claw assembly 310 to move along the length direction of the longitudinal moving rod 322 is provided at the longitudinal moving rod 322; the mechanical claw assembly 310 is fixedly connected to the lower end of the longitudinal moving block 324.

[0040] Through the coordinated work of the transverse moving rod 321 and the longitudinal moving rod 322 in this embodiment, the mechanical claw assembly 310 can be accurately positioned and moved in a two-dimensional plane. The transverse and longitudinal movements are respectively controlled by the transverse moving block 323 and the longitudinal moving block 324 to ensure that the mechanical claw assembly accurately reaches the specified position and accurately locates and grabs the coal gangue, thereby improving the sorting accuracy.

[0041] In this embodiment, the driving assembly 320 further includes a motor 325 for driving the mechanical claw assembly 310 to move axially within the mounting frame 200 . The motor 325 is fixedly connected to the transverse moving rod 321 and the longitudinal moving rod 322 .

[0042] The motor 325 in this embodiment provides driving force to ensure stable operation of the lateral moving rod 321 and the longitudinal moving rod 322, and due to the high control accuracy of the motor 325, precise positioning and motion control of the mechanical claw assembly 310 can be achieved.

[0043] like Figure 5 , 8As shown, in this embodiment, the mechanical claw assembly 310 includes a first mechanical arm 400 for grabbing coal gangue, and the first mechanical arm 400 includes a first moving cylinder 410 fixedly connected to the longitudinal moving block 324. The first moving cylinder 410 is used to push the mechanical claw assembly 310 to perform linear reciprocating motion. A first moving cylinder push rod 411 is provided at the first moving cylinder 410; a first grabbing cylinder 420 for controlling the mechanical claw assembly 310 to grab and place coal gangue is fixedly connected at the lower end of the first moving cylinder push rod 410, and a first grabbing cylinder push rod 421 is provided at the first grabbing cylinder 420; a first mechanical gripping cylinder 420 is connected at the lower end thereof. Claw 430, the first mechanical claw 430 includes a first movable platform 431 connected to the lower end of the first grasping cylinder push rod 421, and a first base 432 fixedly connected to the lower end of the first grasping cylinder 420, the first movable platform 431 is arranged inside the first base 432, and the first movable platform 431 is provided with a plurality of first straight rods 433 distributed circumferentially through the bottom of the first base 432, and the first straight rod 433 is hinged at one end away from the first base 432 with a first connecting rod 434; a first curved rod 435 corresponding to the first straight rod 433 is fixedly connected at the bottom edge of the first base 432; a first finger 436 is hinged at the lower end of the first connecting rod 434 and the lower end of the first curved rod 435.

[0044] In this embodiment, when the driving component 320 drives the first mechanical arm 400 to reach the specified coal gangue grabbing position, the first grabbing cylinder 420 pushes out the first grabbing cylinder push rod 421, drives the first movable platform 431 fixed thereto, and the first straight rod 433 pushes the first connecting rod 434, so that the first mechanical claw 430 is opened to the maximum distance, and the first moving cylinder 410 pushes out the first moving cylinder push rod 411, so that the first grabbing cylinder 420 and the opened first mechanical claw 430 move downward to the range of grabbing coal gangue, and the first grabbing cylinder 420 retracts the first grabbing cylinder push rod 421, so that the first mechanical claw 430 performs a closing action, and after tightly grasping the coal gangue, the first moving cylinder retracts the first moving cylinder push rod, and the driving component With the cooperation of , it moves to the conveyor belt, the first moving cylinder 410 pushes out the first moving cylinder push rod 411 to make the coal gangue stay above the conveyor belt 110, the first grabbing cylinder 420 pushes out the first grabbing cylinder push rod 421, releases the first mechanical claw 430, and the coal gangue is transported out through the conveyor belt 110; through the coordinated work of the first moving cylinder 410 and the first grabbing cylinder 420, the opening and closing actions of the mechanical claw are realized, and a three-fixed-point structure is formed by the holes on the first movable platform 431, the first base 432 and the first finger 436, which is connected to the first bending rod 435 through the first connecting rod 434; it can realize the grabbing action more flexibly, realize the stable grabbing of smaller-sized coal gangue, and reduce the risk of coal gangue falling off.

[0045] In this embodiment, a plurality of circumferentially distributed bushings 440 are provided at the first base 432 , and the bushings 440 are used to reduce the friction on the first base 432 when the first straight rod 433 passes through; the bushings 440 are also provided with bushing retaining rings 441 for fixing the bushings 440 on the first base.

[0046] Through the design of the sleeve 440 and the sleeve retaining ring 441 in this embodiment, the sleeve 440 provides a smooth moving track, reducing the direct friction between the straight rod and the base. The sleeve retaining ring 441 fixes the position of the sleeve 440 to prevent it from falling off during movement, ensuring the stable movement of the straight rod and reducing shaking and deviation.

[0047] In this embodiment, an X-ray generator 240 for identifying coal gangue is also provided on the inner wall of the mounting frame 200 .

[0048] like Fig.11 As shown, in this embodiment, the X-ray generator emits X-rays to identify the gangue, and the X-rays are received by the display and converted into digital signals, which are transmitted to the control system. Then, the control system selects a suitable mechanical claw assembly to grasp the gangue according to the weight, volume and other parameters, thereby reducing the error of manual identification and improving the sorting accuracy and efficiency.

[0049] In this embodiment, a rubber pad 311 is provided at the mechanical claw assembly 310 for reducing the wear of the mechanical claw when grasping coal gangue.

[0050] By covering the surface of the mechanical claw with rubber pads, direct friction between the mechanical claw and the coal gangue is reduced, protecting the mechanical claw and increasing the stability of grabbing coal gangue.

[0051] Example 2 like Figure 6 , 9As shown, the present embodiment provides a mechanical claw assembly 310 installed at the lower end of the second moving block, which includes: a second mechanical arm 500 for grabbing coal gangue, the second mechanical arm 500 includes a second moving cylinder 510 fixedly connected to the longitudinal moving block 324, the second moving cylinder 510 is used to push the mechanical claw assembly 310 to perform linear reciprocating motion, and a second moving cylinder push rod 511 is provided at the second moving cylinder 510; the lower end of the second moving cylinder push rod 511 is fixedly connected to a second grabbing cylinder 520 for controlling the mechanical claw assembly 310 to grab and place coal gangue, and a second grabbing cylinder push rod 521 is provided at the second grabbing cylinder 520; the lower end of the second grabbing cylinder 520 is connected to a second mechanical claw 530 for grabbing coal gangue, and the second mechanical claw 530 includes a second grabbing cylinder 521 connected to the second grabbing cylinder 520. A movable frame 531 is connected to the lower end of the push rod 521, and a fixed base 532 is fixedly connected to the lower end of the second grabbing cylinder 520, and the movable frame 531 is arranged inside the fixed base 532; a plurality of fixed frame connecting rods 533 are hinged at the lower end of the movable frame 531, and the fixed frame connecting rods 533 are distributed in a circle; a plurality of fixed blocks 534 corresponding to the fixed frame connecting rods 533 are arranged at the lower edge of the fixed base 532, a straight connecting rod 535 is hinged at the edge of the lower end of the fixed block 534 away from the fixed base 532, a curved connecting rod 536 is hinged at the edge of the lower end of the fixed block 534 close to the fixed base 532, and the bent part of the curved connecting rod 536 is hinged to one end of the fixed frame connecting rod 533 away from the fixed base 532; a second finger 537 is hinged at the lower end of the straight connecting rod 535 and the lower end of the curved connecting rod 536.

[0052] Through this embodiment, when the driving component 320 drives the second mechanical arm 500 to the specified coal gangue grabbing position, the second grabbing cylinder 520 pushes out the second grabbing cylinder push rod 521, drives the movable frame 531 fixed thereto, and makes the fixed frame connecting rod 533 push the curved connecting rod 536, so that the second mechanical claw 530 opens to the maximum distance, and the second movable cylinder 510 pushes out the second movable cylinder push rod 511, so that the second grabbing cylinder 520 and the opened second mechanical claw 530 move downward to the range of grabbing coal gangue, and the second grabbing cylinder 520 retracts the second grabbing cylinder push rod 521, so that the second mechanical claw 530 performs a closing action, and after tightly grasping the coal gangue, the second movable cylinder 510 retracts the second movable cylinder push rod 511, and moves to the conveyor belt 110 with the cooperation of the driving component 320, and the second movable cylinder 51 0 pushes out the second moving cylinder push rod 511 to make the coal gangue stay above the conveyor belt 110, and the second grabbing cylinder 520 pushes out the second grabbing cylinder push rod 521 to release the second mechanical claw 530, so that the coal gangue is transported out through the conveyor belt 110; the second moving cylinder 510 and the second grabbing cylinder 520 work together to realize the opening and closing of the mechanical claw, and the parallelogram structure formed by the hinged connection of the movable frame 531, the fixed base 532, the fixed frame connecting rod 533, the straight connecting rod 535, and the curved connecting rod 536 together with the second finger 537 constitute the mechanical claw, and the fixed frame connecting rod 533 connects the curved connecting rod 536 and the movable frame 531, which can reduce the size of the movable frame connecting rod, make the mechanical claw structure more compact, and make the grabbing more flexible, so as to realize the stable grabbing of medium-sized coal gangue and reduce the risk of coal gangue falling off.

[0053] Example 3 like Figure 7 , 10As shown, the present embodiment provides a mechanical claw assembly 310 installed at the lower end of the second moving block, which includes: a third mechanical arm 500 for grabbing coal gangue, the third mechanical arm 600 includes a third moving cylinder 610 fixedly connected to the longitudinal moving block 324, the third moving cylinder 610 is used to push the mechanical claw assembly 310 to perform linear reciprocating motion, and a third moving cylinder push rod 611 is provided at the third moving cylinder 610; the lower end of the third moving cylinder push rod 611 is fixedly connected to a third grabbing cylinder 620 for controlling the mechanical claw assembly 310 to grab and place coal gangue, and a third grabbing cylinder push rod 621 is provided at the third grabbing cylinder 620; the lower end of the third grabbing cylinder 621 is connected to a third mechanical claw 630 for grabbing coal gangue, and the third mechanical claw 630 includes A second movable platform 631 connected to the lower end of the third grabbing cylinder push rod 621, and a second base 632 fixedly connected to the lower end of the third grabbing cylinder 620, the second movable platform 631 is arranged in the second base 632; a plurality of second straight rods 633 penetrating the bottom of the second base 632 are circumferentially distributed on the second movable platform 631, and a second connecting rod 634 is hinged at one end of the second straight rod 633 away from the second base 632; second curved rods 635 distributed in a circumference corresponding to the second straight rod 633 are arranged on the bottom edge of the second base 632, and a third connecting rod 636 is hinged at one end of the second curved rod 635 away from the second base 632; a third finger 637 is hinged at one end of the second connecting rod 634 away from the second straight rod 633 and one end of the third connecting rod 636 away from the second curved rod 635.

[0054] In this embodiment, when the driving component 320 drives the third mechanical arm 600 to the designated coal gangue grabbing position, the third grabbing cylinder 620 pushes out the third grabbing cylinder push rod 621, driving the second movable platform 631 fixed thereto, and the second straight rod 633 pushes the second connecting rod 634, driving the third connecting rod 636, so that the third mechanical claw 630 is opened to the maximum distance, and the third moving cylinder 610 pushes out the third moving cylinder push rod 611, so that the third grabbing cylinder 620 and the opened third mechanical claw 630 move downward to the range of grabbing coal gangue, and the third grabbing cylinder 620 retracts the third grabbing cylinder push rod 621, so that the third mechanical claw 630 performs a closing action, and after tightly grasping the coal gangue, the third moving cylinder 610 retracts the third moving cylinder push rod 611, With the cooperation of the driving assembly 320, it moves to the conveyor belt 110, the third moving cylinder 610 pushes out the third moving cylinder push rod 611 to make the coal gangue stay above the conveyor belt 110, and the third grabbing cylinder pushes out the third grabbing cylinder push rod to release the third mechanical claw 630, so that the coal gangue is transported out through the conveyor belt 110; through the coordinated work of the third moving cylinder 610 and the third grabbing cylinder 620, the opening and closing actions of the mechanical claw are realized, and the holes of the second movable platform 631, the second base 632 and the third finger 637 form a three-fixed-point structure, which is connected by the second connecting rod 634 and the third connecting rod 636 to reduce the volume of large mechanical claw components, realize the grabbing action more flexibly, realize the stable grabbing of larger-sized coal gangue, and reduce the risk of coal gangue falling off.

[0055] When the above three embodiments are used in practice, mechanical claw assemblies of different sizes can be installed on the mounting frame according to the working environment of the gangue sorting site and the size of the gangue. The sorting accuracy and efficiency can also be improved by combining different mechanical arms.

[0056] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on one or several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0057] The present invention and its implementation methods are described schematically above, and the description is not restrictive. The embodiments shown in the embodiments are only part of the implementation methods of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the embodiments and designs a structure and an implementation method similar to the technical solution without creativity without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

Claims

1. A five-finger mechanical claw mechanism for gangue sorting, characterized in that: The invention comprises a device body (100), the device body comprising a mounting frame (200), and a conveyor belt (110) arranged through the mounting frame (200); a mounting area (210) is arranged in the mounting frame (200); the conveyor belt (110) divides the mounting area (210) into a sorting area (220) and a placement area (230) for storing coal gangue; the sorting area (220) comprises a sorting mechanism (300) for sorting the coal gangue in the placement area (230) onto the conveyor belt.

2. The five-finger mechanical claw mechanism for gangue sorting according to claim 1 is characterized in that: The sorting mechanism (300) comprises a mechanical claw assembly (310) for grabbing coal gangue, and a driving assembly (320) for driving the mechanical claw assembly (310) to move; the driving assembly (320) comprises transverse moving rods (321) respectively arranged on both sides of the top of the mounting frame (200), and a longitudinal moving rod (322) arranged perpendicular to the transverse moving rod (321); a transverse moving block (323) for controlling the longitudinal moving rod (322) to slide along the length direction of the transverse moving rod (321) is provided at the transverse moving rod (321); the transverse moving block (323) is fixedly connected to the longitudinal moving rod (322), and a longitudinal moving block (324) for controlling the mechanical claw assembly (310) to move along the length direction of the longitudinal moving rod (322) is provided at the longitudinal moving rod (322); and the mechanical claw assembly (310) is fixedly connected to the lower end of the longitudinal moving block (324).

3. The five-finger mechanical claw mechanism for gangue sorting according to claim 2 is characterized in that: The driving assembly (320) further comprises a motor (325) for driving the mechanical claw assembly (310) to move axially within the mounting frame (200); the motor (325) is fixedly connected to the transverse moving rod (321) and the longitudinal moving rod (322).

4. The five-finger mechanical claw mechanism for gangue sorting according to claim 2 is characterized in that: The mechanical claw assembly (310) comprises a first mechanical arm (400) for grabbing coal gangue, the first mechanical arm (400) comprises a first moving cylinder (410) fixedly connected to a longitudinal moving block (324), the first moving cylinder (410) being used to push the mechanical claw assembly (310) to perform linear reciprocating motion, the first moving cylinder (410) being provided with a first moving cylinder push rod (411); the lower end of the first moving cylinder push rod (410) being fixedly connected to a first grabbing cylinder (420) for controlling the mechanical claw assembly (310) to grab and place coal gangue, the first grabbing cylinder (420) being provided with a first grabbing cylinder push rod (421); the lower end of the first grabbing cylinder (420) being connected to a first mechanical claw (430) for grabbing coal gangue, the first mechanical claw (430) being provided with a first moving cylinder (410) being provided with a first moving cylinder push rod (411); The mechanical claw (430) comprises a first movable platform (431) connected to the lower end of the first grasping cylinder push rod (421), and a first base (432) fixedly connected to the lower end of the first grasping cylinder (420); the first movable platform (431) is arranged inside the first base (432); a plurality of first straight rods (433) are arranged on the first movable platform (431) and are distributed circumferentially through the bottom of the first base (432); a first connecting rod (434) is hingedly connected to one end of the first straight rod (433) away from the first base (432); a first curved rod (435) corresponding to the first straight rod (433) is fixedly connected to the bottom edge of the first base (432); and a first finger (436) is hingedly connected between the lower end of the first connecting rod (434) and the lower end of the first curved rod (435).

5. The five-finger mechanical claw mechanism for gangue sorting according to claim 2 is characterized in that: The mechanical claw assembly (310) comprises a second mechanical arm (500) for grabbing small-sized coal gangue. The second mechanical arm (500) comprises a second movable cylinder (510) fixedly connected to a longitudinal movable block (324). The second movable cylinder (510) is used to push the mechanical claw assembly (310) to perform linear reciprocating motion. A second movable cylinder push rod (511) is provided at the second movable cylinder (510). A second grabbing cylinder (520) for controlling the mechanical claw assembly (310) to grab and place coal gangue is fixedly connected to the lower end of the second movable cylinder push rod (511). A second grabbing cylinder push rod (521) is provided at the second grabbing cylinder (520). A second mechanical claw (530) for grabbing coal gangue is connected to the lower end of the second grabbing cylinder (520). The second mechanical claw (530) comprises a movable frame (531) connected to the lower end of the second grabbing cylinder push rod (521). ), and a fixed base (532) fixedly connected to the lower end of the second grabbing cylinder (520), the movable frame (531) being arranged inside the fixed base (532); a plurality of fixed frame connecting rods (533) being hingedly connected to the lower end of the movable frame (531), and the fixed frame connecting rods (533) being distributed in a circumference; a plurality of fixed blocks (534) distributed corresponding to the fixed frame connecting rods (533) are arranged at the edge of the lower end of the fixed base (532), a straight connecting rod (535) being hingedly connected to the edge of the lower end of the fixed block (534) away from the fixed base (532), a curved connecting rod (536) being hingedly connected to the edge of the lower end of the fixed block (534) close to the fixed base (532), and a bent portion of the curved connecting rod (536) being hingedly connected to one end of the fixed frame connecting rod (533) away from the fixed base (532); a second finger (537) being hingedly connected to the lower end of the straight connecting rod (535) and the lower end of the curved connecting rod (536).

6. The five-finger mechanical claw mechanism for gangue sorting according to claim 2 is characterized in that: The mechanical claw assembly (310) comprises a third mechanical arm (600) for grabbing coal gangue, the third mechanical arm (600) comprises a third moving cylinder (610) fixedly connected to the longitudinal moving block (324), the third moving cylinder (610) is used to push the mechanical claw assembly (310) to perform linear reciprocating motion, and a third moving cylinder push rod (611) is provided at the third moving cylinder (610); a third grabbing cylinder (620) for controlling the mechanical claw assembly (310) to grab and place coal gangue is fixedly connected to the lower end of the third moving cylinder push rod (611), and a third grabbing cylinder push rod (621) is provided at the third grabbing cylinder (620); a third mechanical claw (630) for grabbing coal gangue is connected to the lower end of the third grabbing cylinder (621), and the third mechanical claw (630) comprises a third mechanical claw (630) connected to the lower end of the third grabbing cylinder push rod (621). The second movable platform (631) is provided with a second base (632) fixedly connected to the lower end of the third grabbing cylinder (620); the second movable platform (631) is arranged in the second base (632); a plurality of second straight rods (633) penetrating the bottom of the second base (632) are circumferentially distributed on the second movable platform (631); one end of the second straight rod (633) away from the second base (632) is hingedly connected to a second connecting rod (634); a second curved rod (635) circumferentially distributed corresponding to the second straight rod (633) is arranged on the bottom edge of the second base (632); one end of the second curved rod (635) away from the second base (632) is hingedly connected to a third connecting rod (636); one end of the second connecting rod (634) away from the second straight rod (633) and one end of the third connecting rod (636) away from the second curved rod (635) are hingedly connected to a third finger (636).

7. A five-finger mechanical claw mechanism for gangue sorting according to claims 4 and 6, characterized in that: A plurality of shaft sleeves (440) distributed circumferentially are also provided at the first base (432) and the second base (632); the shaft sleeves (440) are used to cooperate with the first straight rod (433) and the second straight rod (633); and shaft sleeve retaining rings (441) for fixing the shaft sleeves (440) on the base are also provided at the shaft sleeves (440).

8. The five-finger mechanical claw mechanism for gangue sorting according to claim 1 is characterized in that: An X-ray generator (240) for identifying coal gangue is also provided on the inner side wall of the installation frame (200).

9. The five-finger mechanical claw mechanism for gangue sorting according to claim 2 is characterized in that: The mechanical claw assembly (310) is provided with a rubber pad (311) for reducing wear of the mechanical claw when grasping coal gangue.

Images