Robot

Abstract

The present invention provides a manipulator for sorting gangue in coal, comprising: a driving arm (10), an upper connecting member (20), a lower connecting member (30), at least one elastic member (40) and a plurality of toggle rods (50) for toggling the gangue; the driving arm (10) is connected to the upper connecting member (20), and the plurality of toggle rods (50) are connected to the lower connecting member (30) and are arranged in a linear manner; the at least one elastic member (40) is compressed between the upper connecting member (20) and the lower connecting member (30), so that the upper connecting member (20) can elastically move relative to the toggle rod (50) along the length direction of the toggle rod (50). The manipulator is used to sort gangue, thereby avoiding the output of other complex power and reducing the complexity of subsequent control; and the elastic member can play a buffering role, thereby avoiding damage to the conveyor belt and playing a role in protecting the conveyor belt.

Description

Technical Field

[0001] The invention relates to the field of coal mining, and in particular to a manipulator. Background Art

[0002] Most of the existing end devices of gangue sorting robotic arms are of the grasping type. Although they have more degrees of freedom, they are not adaptive to the size of the grasped objects. In addition, the claws are sharp and can easily scratch the belts. Both the belts and the mechanical claws are relatively high and have poor adaptability.

[0003] Therefore, it is urgent to improve the existing coal gangue sorting mechanical arm. Summary of the invention

[0004] The object of the present invention is to provide a robot arm to solve at least one technical problem in the background technology.

[0005] To achieve the above object, the present invention provides a manipulator for sorting coal gangue in coal, comprising: a driving arm, an upper connecting member, a lower connecting member, at least one elastic member and a plurality of moving rods for moving the coal gangue;

[0006] The driving arm is connected to the upper connecting member, and the plurality of toggle rods are connected to the lower connecting member and are arranged in a linear manner;

[0007] The at least one elastic member is compressed between the upper connecting member and the lower connecting member, so that the upper connecting member can elastically move relative to the toggle rod along the length direction of the toggle rod.

[0008] Optionally, at least part of the toggle rod is a step rod, the step rod comprises a first shaft segment and a second shaft segment connected to each other, the diameter of the first shaft segment is smaller than the diameter of the second shaft segment;

[0009] The first shaft section passes through the through holes on the upper connecting member and the lower connecting member at the same time, and the elastic member is sleeved on the first shaft section of at least part of the step rod;

[0010] The top of the second shaft segment abuts against the lower connecting member.

[0011] Optionally, a detachable stopper is provided on the top of the first shaft segment, and the stopper is used to prevent the first shaft segment from falling off from the through hole of the upper connecting member.

[0012] Optionally, a buffer pad is provided at the bottom of the second shaft segment.

[0013] Optionally, each step rod having the elastic member sleeved thereon is also sleeved thereon with a slider, one end of the elastic member is pressed against the upper connecting member, and the other end is pressed against the slider, the slider is located on one side of the lower connecting member, and slides with the corresponding first shaft section of the step rod.

[0014] Optionally, the plurality of toggle rods are fixedly connected to the lower connecting member, at least one guide column is provided between the upper connecting member and the lower connecting member, and each guide column is sleeved with the elastic member so that the upper connecting member can elastically move relative to the toggle rod along the length direction of the guide column.

[0015] Optionally, the guide column is a bolt, and at least one through hole is formed on the upper connecting member, and the bolt passes through the through hole and is threadedly connected to the lower connecting member.

[0016] Optionally, the manipulator includes two driving arms, and the two driving arms are respectively connected to two ends of the upper connecting member.

[0017] Optionally, the elastic member is a spring.

[0018] Optionally, the plurality of toggle rods are arranged in an "L" shape, an arc shape or a straight line shape.

[0019] When the manipulator is used to sort coal gangue, the driving arm provides driving force to drive the upper connecting part and the entire device to move. After moving to the target object, sorting can be achieved by simply pushing the target object off the conveyor belt, avoiding the output of other complex power and reducing the complexity of subsequent control. Moreover, the entire manipulator is a purely mechanical structure with low price and easy processing and use. Furthermore, when the toggle rod touches the conveyor belt, the toggle rod can push the lower connecting part to compress the elastic part, thereby avoiding damage to the conveyor belt and protecting the conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional schematic diagram of a manipulator in a first viewing angle in one embodiment of the present invention;

[0021] Figure 2 is a three-dimensional schematic diagram of a manipulator in a second viewing angle in one embodiment of the present invention;

[0022] Figure 3 is a three-dimensional schematic diagram of a toggle lever in one embodiment of the present invention;

[0023] Figure 4 yes Figure 1 A partial view of the robot with the drive arm hidden;

[0024] Figure 5is a partial view of a manipulator in another embodiment of the present invention, wherein the drive arm is hidden;

[0025] Figure 6 It is a partial view of a robot in another embodiment of the present invention, in which the driving arm is hidden.

[0026] Reference numerals:

[0027] 10- driving arm;

[0028] 20-upper connecting piece;

[0029] 30-lower connecting piece;

[0030] 40- elastic member;

[0031] 50 - a toggle lever; 51 - a first shaft section; 52 - a second shaft section; 53 - a stopper; 54 - a buffer pad; 55 - a slider. DETAILED DESCRIPTION

[0032] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0033] See also Figure 1 and Figure 2 The manipulator provided in this embodiment is used for sorting coal gangue in coal, and the manipulator includes: a driving arm 10, an upper connecting member 20, a lower connecting member 30, at least one elastic member 40 and a plurality of toggle rods 50 for toggling the coal gangue; the driving arm 10 is connected to the upper connecting member 20, and the plurality of toggle rods 50 are all connected to the lower connecting member 30 and are arranged in a linear manner; at least one elastic member 40 is compressed between the upper connecting member 20 and the lower connecting member 30, so that the upper connecting member 20 can elastically move relative to the toggle rod 50 along the length direction of the toggle rod 50.

[0034] When the manipulator is used to sort coal gangue, the driving arm 10 provides driving force to drive the upper connecting part 20 and the entire device to move. After moving to the target object, sorting can be achieved by simply pushing the target object off the conveyor belt, avoiding the output of other complex power and reducing the complexity of subsequent control; and the entire manipulator is a purely mechanical structure, low in price, easy to process and use; further, when the toggle rod 50 touches the conveyor belt, the toggle rod 50 can push the lower connecting part 30 to compress the elastic part 40, thereby avoiding damage to the conveyor belt and protecting the conveyor belt.

[0035] In this embodiment, the elastic member 40 is a spring. Those skilled in the art may also use other elastic components to replace the spring, such as elastic cylinders, elastic fasteners, etc. The specific configuration of the replacement elastic member is not described in detail here, and those skilled in the art may make adaptive adjustments according to design requirements.

[0036] The toggle levers 50 may be identical or may have different structures. In some specific embodiments, all toggle levers 50 are step levers, and the structure of the step levers is as follows: Figure 3 As shown, it includes a first shaft section 51 and a second shaft section 52 that are coaxially connected. The diameter of the first shaft section 51 is smaller than that of the second shaft section 52. The first shaft section 51 is simultaneously passed through the through holes on the upper connecting member 20 and the lower connecting member 30. At least part of the first shaft section 51 of the step rod is sleeved with an elastic member 40. The top of the second shaft section 52 abuts against the lower connecting member 30. Figure 4 , the first shaft sections 51 of all the step rods are sleeved with elastic members 40. If the elastic force of the elastic members 40 is sufficient, the number of the elastic members 40 may be reduced, such as Figure 5 As shown, the first shaft section 51 of the step rod in the middle portion is not sleeved with the elastic member 40 .

[0037] In other embodiments, the toggle lever 50 may have different structures, such as Figure 6 As shown, part of the toggle rod 50 is a step rod, and the structure of the step rod is exactly the same as that in the previous text, and the rest of the toggle rod 50 is as shown in FIG. Figure 6 As shown in the middle five, that is, the toggle rod 50 without the elastic member 40 can only retain the second shaft section 52, and these toggle rods 50 can be fixedly connected to the lower connecting member 30, and the fixed connection method can be welding, threaded connection, etc.

[0038] In some specific embodiments, a detachable stopper 53 is provided at the top of the first shaft segment 51, and the stopper 53 is used to prevent the first shaft segment 51 from falling off from the through hole of the upper connecting member 20. The stopper 53 can be a nut, and the nut is threadedly connected to the first shaft segment 51, and after the first shaft segment 51 passes through the upper connecting member 20 and the lower connecting member 30, the nut is screwed on.

[0039] Another feasible solution is that the stopper 53 and the first shaft section 51 are integrally formed and cannot be disassembled, but the first shaft section 51 and the second shaft section 52 are connected in a detachable manner, for example, the first shaft section 51 and the second shaft section 52 are connected by threads. During installation, the first shaft section 51 passes through the upper connecting member 20, passes through the elastic member 40, and then passes through the lower connecting member 30 and is screwed together with the second shaft section 52. When the elastic member 40 is a spring, when the length of the spring is constant, the longer the length of the first shaft section 51, the smaller the elastic force, the lower connecting member 30 and the toggle rod 50 are easier to shrink, and the toggle rod 50 has a better buffering effect on the conveyor belt; on the contrary, the shorter the length of the first shaft section 51, the tighter the spring is compressed, so the elastic force is greater, the lower connecting member 30 and the toggle rod 50 are less likely to shrink, and the toggle rod 50 has a worse buffering effect on the conveyor belt, but the overall stability of the manipulator will be improved, so those skilled in the art can adjust the elastic force of the spring according to actual installation requirements. The adjustment can be achieved by changing the length of the first shaft segment 51. For example, when the first shaft segment 51 and the second shaft segment 52 are connected by threads, the screwing depth can change the effective length of the first shaft segment 51. The deeper the screwing, the shorter the effective length of the first shaft segment 51, thereby increasing the initial elastic force of the spring.

[0040] In order to further protect the conveyor belt, a buffer pad 54 can be set at the bottom of the second shaft section 52. The buffer pad 54 can be specifically made of a material with a certain elastic buffering effect, such as a rubber pad. The rubber pad can reduce the friction coefficient between the toggle rod 50 and the conveyor belt, and has an elastic buffering effect. When the toggle rod 50 acts on the conveyor belt, it can effectively avoid damage to the conveyor belt.

[0041] Preferably, each first shaft section 51 of the step rod sleeved with the elastic member 40 is also sleeved with a slider 55, one end of the elastic member 40 is pressed on the upper connecting member 20, and the other end is pressed on the slider 55, the slider 55 is located on one side of the lower connecting member 30, and is slidably matched with the first shaft section 51 of the corresponding step rod. The slider 55 can be welded to the lower connecting member 30, or it can be simply sleeved on the first shaft section 51, and plays the role of transmitting power to squeeze the elastic member 40.

[0042] In this embodiment, the manipulator includes two driving arms 10, and the two driving arms 10 are respectively connected to the two ends of the upper connecting member 20. The two driving arms 10 can realize linkage and jointly control the movement of the upper connecting member 20. The two driving arms 10 can make the entire manipulator run more stably and improve the sorting speed.

[0043] The linear arrangement of the toggle rods 50 may be determined according to the shape of the coal gangue. The linear arrangement here refers to an arrangement direction that is a straight line or a curve or a line of any other shape. A plurality of toggle rods 50 may be arranged in an "L" shape, such as Figure 4-6, or they can be arranged in an arc or a straight line (i.e., the arrangement direction is a straight line). Adjacent toggle rods 50 are preferably arranged at equal intervals. The interval between adjacent toggle rods 50 determines the minimum size of coal gangue that can be sorted by the manipulator. The larger the interval, the larger the coal gangue that can be sorted. Smaller coal gangue will leak through the gap between adjacent toggle rods 50, and thus cannot be sorted.

[0044] The structure of the upper connecting member 20 and the lower connecting member 30 can be designed according to the distribution of the toggle rods 50. For example, when a plurality of toggle rods 50 are arranged in an "L" shape, the upper connecting member 20 and the lower connecting member 30 are also in an "L" shape. It should be noted that the actual structure of the upper connecting member 20 and the lower connecting member 30 can be as follows: Figure 4-6 The long plate shape shown can also be other shapes, depending on the installation method of the driving arm 10 and the installation method of the toggle rod 50.

[0045] In another embodiment, a plurality of toggle rods 50 are fixedly connected to the lower connecting member 30, at least one guide column is provided between the upper connecting member 20 and the lower connecting member 30, each guide column is sleeved with an elastic member 40, and the upper connecting member 20 can elastically move relative to the toggle rod 50 along the length direction of the guide column. With this solution, it is not necessary to provide a through hole on the lower connecting member 30, and the guide column is equivalent to the first shaft section 51 mentioned above. The difference from the above embodiment is that the guide column and the toggle rod 50 are two parts, and the toggle rod 50 in this embodiment has no guiding function, but only has the function of toggling the sorted objects. Specifically: the guide column can be a bolt, and at least one through hole is provided on the upper connecting member 20, and the bolt passes through the through hole and is threadedly connected to the lower connecting member 30. The toggle rod 50 is directly fixedly connected to the lower connecting member 30.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A manipulator for sorting gangue from coal, characterized in that: include: A driving arm (10), an upper connecting member (20), a lower connecting member (30), at least one elastic member (40), and a plurality of moving rods (50) for moving coal gangue; The driving arm (10) is connected to the upper connecting member (20), and the plurality of toggle rods (50) are connected to the lower connecting member (30) and are arranged in a linear manner; The at least one elastic member (40) is compressed between the upper connecting member (20) and the lower connecting member (30), so that the upper connecting member (20) can elastically move relative to the toggle rod (50) along the length direction of the toggle rod (50); At least part of the toggle rod (50) is a step rod, the step rod comprises a first shaft section (51) and a second shaft section (52) connected to each other, the diameter of the first shaft section (51) is smaller than the diameter of the second shaft section (52); The first shaft section (51) is simultaneously passed through the through holes on the upper connecting member (20) and the lower connecting member (30), and at least part of the first shaft section (51) of the step rod is sleeved with the elastic member (40); The top of the second shaft section (52) abuts against the lower connecting member (30); A plurality of the toggle rods (50) are fixedly connected to the lower connecting member (30); at least one guide column is provided between the upper connecting member (20) and the lower connecting member (30); each guide column is sleeved with the elastic member (40) so that the upper connecting member (20) can elastically move relative to the toggle rod (50) along the length direction of the guide column; The guide column is a bolt, and the upper connecting member (20) is provided with at least one through hole, through which the bolt passes to be threadedly connected to the lower connecting member (30).

2. The robot according to claim 1, characterized in that: A detachable stopper (53) is provided at the top of the first shaft section (51), and the stopper (53) is used to prevent the first shaft section (51) from falling off from the through hole of the upper connecting member (20).

3. The robot according to claim 1, characterized in that: A buffer pad (54) is provided at the bottom of the second shaft section (52).

4. The robot according to claim 1, characterized in that: A sliding block (55) is also sleeved on the first shaft section (51) of each step rod sleeved with the elastic member (40); one end of the elastic member (40) is pressed on the upper connecting member (20) and the other end is pressed on the sliding block (55); the sliding block (55) is located on one side of the lower connecting member (30) and is slidably matched with the first shaft section (51) of the corresponding step rod.

5. The robot according to claim 1, characterized in that: The robot comprises two driving arms (10), and the two driving arms (10) are respectively connected to two ends of the upper connecting member (20).

6. The robot according to claim 1, characterized in that: The elastic member (40) is a spring.

7. The robot according to claim 1, characterized in that: The plurality of toggle rods (50) are arranged in an "L" shape, an arc shape or a "I" shape.

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