Mechanical Hands and Robots

Abstract

The present invention provides a mechanical puller and a robot, which relate to the technical field of coal production equipment. The mechanical puller comprises a mounting assembly, a guide head and a lever device; the mounting assembly is used to be connected to a driving device, and under the action of the driving device, the mounting assembly can reciprocate along a first direction and along a second direction; the mechanical puller provided by the present invention can be connected to the driving device, and driven by the driving device, can move along the first direction and along the second direction; the guide head on the mechanical puller faces opposite to the transport direction of a conveyor belt for transporting coal, and the guide head can guide gangue in the coal on the conveyor belt to both sides, so that the gangue is close to the edge of the conveyor belt; the lever device of the mechanical puller can push the gangue located at the edge of the conveyor belt away from the conveyor belt, thereby realizing the separation of the gangue from the coal.

Description

Technical Field

[0001] The invention relates to the technical field of coal production equipment, in particular to a mechanical puller and a robot. Background Art

[0002] The produced coal contains 3%-25% gangue. The presence of gangue will cause waste of transportation and storage materials, reduce the combustion value of coal, affect heating efficiency, etc.

[0003] At present, during the transportation of coal production, the gangue in the coal is generally screened. Generally, the gangue and coal are manually judged, and the coal and gangue are sorted apart to complete the gangue sorting work.

[0004] However, the process of gangue sorting is accompanied by problems such as dust, supermarkets, vibration and other environmental pollution, which threatens the health of workers. Some gangue is too large and requires the assistance of multiple people. At the same time, there are also problems such as high labor intensity and low sorting efficiency of manual gangue selection. Summary of the invention

[0005] The purpose of the present invention is to provide a mechanical picker and a robot to solve the technical problems of current manual sorting of gangue, which threatens the health of workers, has low sorting efficiency and high labor intensity.

[0006] The present invention provides a mechanical lever, comprising a mounting assembly, a guide head and a lever device;

[0007] The mounting assembly is used to be connected to a driving device, and under the action of the driving device, the mounting assembly can reciprocate along the first direction and along the second direction;

[0008] The lever device and the guide head are both arranged below the mounting assembly, and the guide head is located at the front end of the mechanical lever moving along the first direction, and is used to move the gangue on the conveyor belt to the left and right sides of the first direction;

[0009] The lever device is used to push away the gangue on the conveyor belt.

[0010] Furthermore, the mounting assembly includes a mounting plate and a mounting base, the mounting base is arranged at the lower end of the mounting plate, and a connecting hole for connecting to a driving device is arranged on the mounting plate.

[0011] Furthermore, the lever device comprises a left lever assembly and a right lever assembly, and the left lever assembly and the right lever assembly are respectively arranged on two sides of the mounting base.

[0012] Furthermore, the left lever assembly includes a plurality of left levers, one end of each left lever is connected to the mounting plate, and the other end of each left lever is bent toward a side away from the right lever assembly.

[0013] Furthermore, the left shift lever assembly also includes a reinforcing rod, and the reinforcing rod is connected to a plurality of the left shift levers at the same time.

[0014] Furthermore, the left lever assembly and the right lever assembly have the same structure, and the plurality of left levers form an inwardly concave surface.

[0015] Furthermore, the installation base is a box structure; a plurality of through holes communicating with the interior of the installation base are arranged on the installation base.

[0016] Furthermore, the guide head has a first guide surface and a second guide surface, and the first guide surface and the second guide surface intersect to form a guide surface for moving the gangue to the left and right sides of the first direction.

[0017] Further, the projection of the lever device located at the lower end portion of the mounting base in the first direction does not protrude beyond the projection of the guide head in the first direction.

[0018] The present invention also provides a robot, comprising the mechanical hand.

[0019] The mechanical puller provided by the present invention can be connected to a driving device, and can move in a first direction and a second direction under the drive of the driving device; the guide head on the mechanical puller is oriented opposite to the transport direction of the conveyor belt that transports the coal, and the guide head can guide the gangue in the coal on the conveyor belt to both sides, so that the gangue is close to the edge of the conveyor belt; the lever device of the mechanical puller can push the gangue located at the edge of the conveyor belt away from the conveyor belt, thereby realizing the separation of the gangue from the coal.

[0020] The use of mechanical pickers improves production efficiency and can remove larger gangue that is difficult to sort manually from the conveyor belt.

[0021] The robot provided by the present invention can sort out gangue from coal, reduce the gangue contained in the coal, and replace manual gangue sorting, which greatly reduces the labor intensity of the staff, improves production efficiency, and ensures the health of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of the structure of a mechanical lever provided by an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A schematic structural diagram of the mechanical lever from another angle;

[0025] Figure 3 for Figure 1 A structural schematic diagram of the mechanical lever from another angle;

[0026] Figure 4 for Figure 1 A schematic structural diagram of a mechanical lever from a top view is shown.

[0027] Icons: 100 - mounting plate; 200 - mounting base; 300 - guide head; 301 - first guide surface; 302 - second guide surface; 400 - lever device; 401 - left lever assembly; 402 - right lever assembly; 500 - reinforcement rod. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figure 1-Figure 4 As shown, a mechanical lever provided by the present invention includes a mounting assembly, a guide head 300 and a lever device 400;

[0030] The mounting assembly is used to be connected to a driving device, and under the action of the driving device, the mounting assembly can reciprocate along the first direction and along the second direction;

[0031] The lever device 400 and the guide head 300 are both arranged below the mounting assembly. The guide head 300 is located at the front end of the mechanical lever moving along the first direction, and is used to move the gangue on the conveyor belt to the left and right sides of the first direction.

[0032] The lever device 400 is used to push away the gangue on the conveyor belt.

[0033] In some embodiments, the first direction is opposite to the direction of coal transported by the conveyor belt, and the second direction is a direction perpendicular to the first direction; the driving device can make the mechanical hand reciprocate along the first direction and reciprocate along the second direction.

[0034] The conveyor belt transports the coal toward the mechanical shifter. The guide head 300 on the mechanical shifter can divide the oncoming gangue on the conveyor belt to the left and right sides, making the gangue closer to the edge of the conveyor belt. The guide head 300 also prevents the rear shifting rod device 400 from being directly hit by the gangue, thereby increasing the service life of the shifting rod device 400.

[0035] The driving device causes the lever device 400 to move along the second direction to push the gangue away from the conveyor belt, thereby realizing the use of the mechanical lever to sort out the gangue in the coal on the conveyor belt, thereby improving the sorting efficiency.

[0036] Compared with manual sorting, the use of mechanical pickers to sort gangue greatly improves work efficiency, keeps workers away from conveyor belts, reduces the impact of dust on workers' health, and reduces their labor intensity.

[0037] Based on the above embodiment, further, the mounting assembly includes a mounting plate 100 and a mounting base 200, the mounting base 200 is arranged at the lower end of the mounting plate 100, and a connecting hole for connecting with a driving device is arranged on the mounting plate 100.

[0038] The mounting plate 100 of the mounting assembly is used to be connected to a driving device, and the driving device enables the mechanical lever to move in the first direction or in the second direction by moving the mounting assembly in the first direction or in the second direction.

[0039] like Figure 3 As shown, based on the above embodiment, further, the lever device 400 includes a left lever assembly 401 and a right lever assembly 402, and the left lever assembly 401 and the right lever assembly 402 are respectively arranged on both sides of the mounting base 200.

[0040] The left lever assembly 401 and the oil lever assembly of the lever device 400 are respectively arranged on both sides of the mounting base 200. When the lever device 400 is used to push the gangue on the conveyor belt away from the left side of the conveyor belt, the left lever assembly 401 of the lever device 400 directly contacts the gangue, so that the gangue is pushed away from the conveyor belt.

[0041] When the lever device 400 is used to push the gangue on the conveyor belt away from the right side of the conveyor belt, the right lever assembly 402 of the lever device 400 directly contacts the gangue, so that the gangue is pushed away from the conveyor belt.

[0042] According to the position of the gangue on the conveyor belt, when the gangue is close to the left side of the conveyor belt, the left lever assembly 401 of the lever device 400 is used to push it away, and when the gangue is close to the right side of the conveyor belt, the right lever assembly 402 of the lever device 400 is used to push it away.

[0043] Based on the above embodiment, further, the left lever assembly 401 includes a plurality of left levers, one end of each left lever is connected to the mounting plate 100 , and the other end is bent away from the right lever assembly 402 .

[0044] In some embodiments, the left lever assembly 401 includes multiple left levers, the upper end of each left lever is connected to the mounting plate 100, and the left levers that can be connected to the mounting base 200 are all connected to the mounting base 200, increasing the strength of the entire left lever assembly 401, so that it can remove larger gangue from the conveyor belt.

[0045] There is a certain interval between the multiple left levers. When the gangue is pushed away from the conveyor belt, the coal can pass through the gaps between the adjacent left levers, thereby preventing the coal from being accidentally pushed away from the conveyor belt when the gangue is pushed away from the conveyor belt.

[0046] The lower end of the left lever is bent to form a bend. When the left lever assembly 401 is used to push away the gangue, the hook formed by the bending of the lower end of the left lever can effectively prevent the gangue from detaching from the left lever assembly 401, so that the gangue can be better detached from the conveyor belt.

[0047] The bend uses a quenching process to increase the strength of the end of the seat lever and improve the ability to withstand frontal impact when removing the gangue.

[0048] In order to increase the strength of the left lever assembly 401 so that it can push the heavier waste rock away from the conveyor belt, the left lever assembly 401 further includes a reinforcing rod 500, which is connected to a plurality of the left levers at the same time.

[0049] Generally, one or two reinforcing rods 500 are provided on the plurality of left levers to increase the strength of the entire left lever assembly 401 so that the left lever assembly 401 is not easily deformed when the left lever assembly 401 is being pushed away from larger waste rocks.

[0050] like Figure 3 and Figure 4 As shown, based on the above embodiment, further, the left lever assembly 401 and the right lever assembly 402 have the same structure, and the plurality of left levers form an inwardly concave surface.

[0051] The left lever assembly 401 and the right lever assembly 402 have the same structure and are symmetrically arranged on both sides of the mounting base 200. The right lever of the right lever assembly 402 also forms an inwardly concave surface, so that when the left lever assembly 401 and the right lever assembly 402 are used to push the gangue away from the conveyor belt, the gangue is not easy to separate from the front of the movement of the left lever assembly 401, thereby improving the effectiveness of the left lever assembly 401 in pushing the gangue away.

[0052] Furthermore, the mounting base 200 is a box structure; a plurality of through holes communicating with the interior of the mounting base 200 are provided on the mounting base 200 .

[0053] The mounting base 200 may be welded from steel plates, or the mounting base 200 may be a frame structure, and part of the left lever assembly 401 and part of the right lever assembly 402 are welded to the mounting base 200 to improve the strength of the left lever assembly 401 and the right lever assembly 402 .

[0054] like Figure 2 As shown, further, the guide head 300 has a first guide surface 301 and a second guide surface 302, and the first guide surface 301 and the second guide surface 302 intersect to form a guide surface for moving the gangue to the left and right sides of the first direction.

[0055] The guide head 300 has a first guide surface 301 and a second guide surface 302. The first guide surface 301 and the second guide surface 302 form a guide surface. The guide surface and the gangue base move the gangue to both sides of the conveyor belt and guide the gangue to the edge of the conveyor belt.

[0056] Furthermore, the projection of the lever device 400 located at the lower end portion of the mounting base 200 in the first direction does not protrude beyond the projection of the guide head 300 in the first direction.

[0057] The guide head 300 can effectively prevent the gangue from directly contacting the lever device 400 in the conveying direction of the conveyor belt, and prevent the gangue from colliding with the side of the lever device 400.

[0058] When the guide head 300 contacts the gangue on the conveyor belt head-on, the gangue will not collide with the lever device 400, that is, the projection of the guide head 300 in the first direction completely covers the projection of the lever device 400 at the lower end of the mounting base 200 in the first direction.

[0059] The mechanical pusher provided by the present invention can be connected to a driving device, and can move in a first direction and a second direction under the drive of the driving device; the guide head 300 on the mechanical pusher faces opposite to the transport direction of the conveyor belt that transports the coal, and the guide head 300 can guide the gangue in the coal on the conveyor belt to both sides, so that the gangue is close to the edge of the conveyor belt; the lever device 400 of the mechanical pusher can push the gangue located at the edge of the conveyor belt away from the conveyor belt, thereby realizing the separation of the gangue from the coal.

[0060] The use of mechanical pickers improves production efficiency and can remove larger gangue that is difficult to sort manually from the conveyor belt.

[0061] The present invention also provides a robot, comprising the mechanical hand.

[0062] The robot includes a driving device for controlling a mechanical arm to move in a first direction and a second direction, and an identification system capable of identifying gangue and coal on a conveyor belt. The coal and gangue are distinguished and judged by the identification system, and the information is then transmitted to a control device, which controls the mechanical arm to sort the gangue, thereby greatly improving the operating efficiency, keeping the workers away from the conveyor belt, and ensuring the health of the workers.

[0063] The robot provided by the present invention can sort out gangue from coal, reduce the gangue contained in the coal, and replace manual gangue sorting, which greatly reduces the labor intensity of the staff, improves production efficiency, and ensures the health of the staff.

[0064] 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 replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical dial, characterized in that: It includes a mounting assembly, a guide head and a lever device; The mounting assembly is used to be connected to a driving device, and under the action of the driving device, the mounting assembly can reciprocate along the first direction and along the second direction; The lever device and the guide head are both arranged below the mounting assembly, and the guide head is located at the front end of the mechanical lever moving along the first direction, and is used to move the gangue on the conveyor belt to the left and right sides of the first direction; The lever device is used to push away the gangue on the conveyor belt; The mounting assembly includes a mounting plate and a mounting base, the mounting base is disposed at the lower end of the mounting plate, and a connecting hole for connecting to the drive device is provided on the mounting plate; The lever device comprises a left lever assembly and a right lever assembly, and the left lever assembly and the right lever assembly are respectively arranged on two sides of the mounting base; The left lever assembly comprises a plurality of left levers, one end of each left lever is connected to the mounting plate, and the other end of each left lever is bent away from the right lever assembly; The left lever assembly further includes a reinforcing rod, the reinforcing rod being connected to a plurality of the left levers at the same time; The guide head has a first guide surface and a second guide surface, and the first guide surface and the second guide surface intersect to form a guide surface for moving the gangue to the left and right sides of the first direction.

2. The mechanical lever according to claim 1, characterized in that: The left lever assembly and the right lever assembly have the same structure, and the plurality of left levers form an inwardly concave surface.

3. The mechanical puller according to claim 1, characterized in that: The installation base is a box structure; a plurality of through holes communicating with the interior of the installation base are arranged on the installation base.

4. The mechanical puller according to claim 1, characterized in that: The projection of the lever device located at the lower end portion of the mounting base in the first direction does not protrude beyond the projection of the guide head in the first direction.

5. A robot, characterized in that: The invention comprises the mechanical handle as described in any one of claims 1 to 4.

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