End effector of coal gangue sorting robot integrating pushing and grabbing

Abstract

The application discloses an end execution mechanism of a coal and gangue sorting robot, which comprises a bidirectional sliding table assembly, a bidirectional sliding block assembly for being installed on a mechanical arm, two poking and grabbing assemblies installed on the same side of the bidirectional sliding table assembly, each of the two poking and grabbing assemblies being provided with a rotatable poking and grabbing unit, and the end execution mechanism having a first working state and a second working state. In the first working state, the two poking and grabbing units are located at two sides of the gangue respectively, the two poking and grabbing units are kept in relative arrangement, the bidirectional sliding table assembly drives the two poking and grabbing units to approach each other to grab the gangue or to move away from each other to release the gangue. In the second working state, the two poking and grabbing units are located at the same side of the gangue to poke the gangue. The application can switch between the grabbing mode and the poking mode according to the foreign matter state, can select the most effective mode to separate the foreign matter from the coal, is more widely applicable, and is higher in efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and in particular relates to an end-effector of a coal gangue sorting robot with a pulling and grasping function. Background Art

[0002] Coal mining, as the primary source of energy for human production, is still somewhat behind other industries due to the unique working environment. Many jobs are still performed by various types of miners. Sorting the gangue generated during coal mining remains a major challenge in coal automation technology due to its cumbersome process and the difficulty in distinguishing foreign objects such as gangue and sleepers from coal. For the entire sorting system, the actuator for the sorting action is the key to its effectiveness. It primarily takes the form of various types of mechanical claws, which operate in a manner broadly classified as grasping or shifting.

[0003] When faced with a situation where there is coal gangue all around, or for long cylindrical foreign objects such as sleepers, the grabbing method is more suitable. For foreign objects such as gangue on the edge of the conveyor belt, the toggling method is more efficient. However, the existing end effector can only be either grabbing or toggling. It is unrealistic to replace the end effector during the grabbing process. Therefore, a solution that can switch between grabbing and toggling methods is urgently needed. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, the present invention proposes an end-effector of a picking and grabbing coal gangue sorting robot. The end-effector of the picking and grabbing coal gangue sorting robot has the advantage of selectively grabbing or picking foreign objects in different states.

[0006] According to an embodiment of the present invention, the end-effector of the coal gangue sorting robot with integrated pulling and grabbing includes: a bidirectional slide assembly, which is used to be installed on a robotic arm; two pulling and grabbing assemblies, which are installed on the same side of the bidirectional slide assembly, and each of the pulling and grabbing assemblies has a rotatable pulling and grabbing unit; the end-effector has a first working state and a second working state, in which, in the first working state, the two pulling and grabbing units are respectively located on both sides of the foreign object, and the two pulling and grabbing units are kept relatively arranged, and the bidirectional slide assembly drives the two pulling and grabbing units to approach each other to grab the foreign object or move away from each other to release the foreign object; in the second working state, the two pulling and grabbing units are located on the same side of the foreign object to move the foreign object.

[0007] The beneficial effect of the present invention is that the present invention controls the rotation of the grabbing units on the grabbing assembly. When the two grabbing units are opposite to each other, the two grabbing units are controlled by the bidirectional slide assembly to move closer to or farther away from each other, thereby completing the grasping and releasing of foreign objects by grasping. When the two grabbing units are simultaneously directed toward one side of the foreign object, the foreign object is selected by toggling. The present invention switches between the grasping mode and the toggling mode according to the state of the foreign object, and can select the most effective way to separate foreign objects from coal, with wider applicability and higher efficiency.

[0008] According to one embodiment of the present invention, the grabbing assembly further includes: a rotating cylinder, which is mounted on the bidirectional slide assembly; a claw mounting seat, which is mounted on the output end of the rotating cylinder, and the grabbing unit is mounted on the claw mounting seat.

[0009] According to one embodiment of the present invention, the finger claw unit includes: a mounting block, one side of which is mounted on the finger claw mounting seat via a support; and a plurality of fingers, which are mounted on the other side of the mounting block.

[0010] According to one embodiment of the present invention, a patch stress sensor is provided on the pillar.

[0011] According to one embodiment of the present invention, the plurality of fingers are evenly spaced apart on the mounting block, the fingers are arc-shaped rods, and the plurality of fingers are parallel to each other.

[0012] According to one embodiment of the present invention, the bidirectional slide assembly includes: a mounting seat; a stepper motor, the stepper motor is mounted at one end of the mounting seat; a bidirectional lead screw, one end of the bidirectional lead screw is directly connected to the output end of the stepper motor, and the other end of the bidirectional lead screw is rotatably mounted on the mounting seat; a first slider, the first slider is sleeved on the bidirectional lead screw, and one of the rotating cylinders is mounted on the first slider; a second slider, the second slider is sleeved on the bidirectional lead screw, and another of the rotating cylinders is mounted on the second slider.

[0013] According to one embodiment of the present invention, the bidirectional slide assembly further includes a guide rod, which is mounted on the mounting seat and parallel to the bidirectional lead screw, and the first slider and the second slider are both slidably connected to the guide rod.

[0014] According to one embodiment of the present invention, there are two guide rods, and the bidirectional lead screw is located between the two guide rods.

[0015] According to one embodiment of the present invention, the bidirectional screw has a left half and a right half, the thread rotation direction on the left half is opposite to that on the right half, the first slider is located in the left half, and the second slider is located in the right half.

[0016] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments thereof, in which:

[0019] Figure 1 2 is a schematic structural diagram of the end effector mechanism of the coal gangue sorting robot with integrated pulling and grasping according to the present invention;

[0020] Reference numerals:

[0021] Finger 1, patch stress sensor 2, pusher claw mounting base 3, stepping motor 4, first slider 5, bidirectional screw 6, mounting base 7, second slider 8, rotary cylinder 9, pillar 10, guide rod 11, mounting block 12. DETAILED DESCRIPTION

[0022] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0024] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0025] The end effector mechanism of the coal gangue sorting robot with pulling and grasping function according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] like Figure 1 As shown, the end effector mechanism of the coal gangue sorting robot with integrated pulling and grabbing according to an embodiment of the present invention includes: a bidirectional slide assembly and two pulling and grabbing assemblies, and the bidirectional slider assembly is used to be installed on a robotic arm; the two pulling and grabbing assemblies are installed on the same side of the bidirectional slide assembly, and each pulling and grabbing assembly has a rotatable pulling and grabbing unit; the end effector mechanism has a first working state and a second working state. In the first working state, the two pulling and grabbing units are respectively located on both sides of the foreign object, and the two pulling and grabbing units are kept relatively arranged. The bidirectional slide assembly drives the two pulling and grabbing units to approach each other to grab the foreign object or move away from each other to release the foreign object; in the second working state, the two pulling and grabbing units are located on the same side of the foreign object to move the foreign object.

[0027] The present invention controls the rotation of the grabbing units on the grabbing assembly. When the two grabbing units are opposite to each other, the two grabbing units are controlled to move closer to or farther away from each other by the bidirectional slide assembly, thereby completing the grasping and releasing of foreign objects by grasping. When the two grabbing units are simultaneously directed toward one side of the foreign object, the foreign object is selected by shifting. The present invention switches between the grasping mode and the shifting mode according to the state of the foreign object, and can select the most effective method to separate the foreign object from the coal, with wider applicability and higher efficiency.

[0028] Among them, the grabbing assembly also includes: a rotating cylinder 9 and a claw mounting seat 3, the rotating cylinder 9 is installed on the bidirectional slide assembly; the claw mounting seat 3 is installed on the output end of the rotating cylinder 9, and the grabbing unit is installed on the claw mounting seat 3.

[0029] Furthermore, the picking and grasping unit includes: a mounting block 12 and a plurality of fingers 1, one side of the mounting block 12 is mounted on the claw mounting seat 3 through a pillar 10; and the plurality of fingers 1 are mounted on the other side of the mounting block 12. In this embodiment, the number of pillars 10 is two, one end face of the pillar 10 is connected to the claw mounting seat 3, and the other end face of the pillar 10 is connected to the mounting block 12. Preferably, a patch stress sensor 2 is provided on the pillar 10. The patch stress sensor 2 can detect the stress on the pillar 10 during grasping or plucking to avoid overload. Of course, during the grasping or plucking process, once the patch stress sensor 2 detects that the stress is reduced to 0, it means that the foreign object has detached from the finger 1, and the patch stress sensor 2 uses this to determine whether the grasping or plucking is successful.

[0030] Preferably, multiple fingers 1 are evenly spaced on the mounting block 12. The fingers 1 are curved rods and parallel to each other. In this embodiment, four fingers 1 are provided on each mounting block 12. The curved fingers 1 better conform to the sides of the gangue or sleepers, reducing the chance of the gangue escaping from the fingers 1 due to obstruction or impact from other rocks, as well as the rolling and bouncing of the gangue itself, thereby improving the gripping effect. A rubber layer can also be provided on the fingers 1 to increase friction and provide shock absorption during the gripping and plucking process.

[0031] Among them, the bidirectional slide assembly includes: a mounting seat 7, a stepper motor 4, a bidirectional lead screw 6, a first slider 5 and a second slider 8. The stepper motor 4 is mounted on one end of the mounting seat 7; one end of the bidirectional lead screw 6 is directly connected to the output end of the stepper motor 4, and the other end of the bidirectional lead screw 6 is rotatably mounted on the mounting seat 7; the first slider 5 is sleeved on the bidirectional lead screw 6, and a rotating cylinder 9 is mounted on the first slider 5; the second slider 8 is sleeved on the bidirectional lead screw 6, and another rotating cylinder 9 is mounted on the second slider 8.

[0032] That is, the mounting seat 7 is used to mount the stepping motor 4 and the bidirectional lead screw 6 . The stepping motor 4 drives the bidirectional lead screw 6 to rotate, and the first slider 5 and the second slider 8 perform linear motion driven by the bidirectional lead screw 6 .

[0033] Furthermore, the bidirectional slide assembly includes a guide rod 11 mounted on the mounting base 7. The guide rod 11 is parallel to the bidirectional lead screw 6. The first slider 5 and the second slider 8 are both slidably connected to the guide rod 11. Furthermore, there are two guide rods 11, with the bidirectional lead screw 6 positioned between the two guide rods 11. The guide rod 11 guides the first slider 5 and the second slider 8, and the two guide rods 11 increase stability.

[0034] On this basis, the bidirectional lead screw 6 has a left half and a right half. The threads on the left half have opposite rotation directions to those on the right half. The first slider 5 is located in the left half, and the second slider 8 is located in the right half. This allows the bidirectional lead screw 6 to drive the first slider 5 and the second slider 8 to maintain opposite motion directions during rotation.

[0035] During operation, when the end actuator is in the first working state (i.e., the grasping state), the two rotary cylinders 9 control the rotation of their respective grasping units so that the two grasping units face each other, and then the stepper motor 4 controls the two grasping units to move closer, and the fingers 1 clamp the gangue, sleepers and other foreign objects, thereby grabbing the gangue, sleepers and other foreign objects from the conveyor belt; when the end actuator is in the second working state (i.e., the toggling state), the two rotary cylinders 9 control the rotation of their respective grasping units so that the two grasping units face the same side of the foreign object, and then move the end actuator horizontally in the direction where the foreign object is located, so that the fingers 1 toggles the gangue, sleepers and other foreign objects, thereby grabbing the gangue, sleepers and other foreign objects from the conveyor belt. During the grasping or toggling process, once the measurement value of the patch stress sensor 2 exceeds the critical value, an overload condition occurs at this time, and there may be a jam or grasping and toggling error, and an immediate shutdown alarm is required.

[0036] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0037] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. An end effector mechanism of a coal gangue sorting robot with a pulling and grasping function, characterized in that: include: A bidirectional slide assembly, wherein the bidirectional slide assembly is used to be installed on a robotic arm; Two grab assemblies, the two grab assemblies are installed on the same side of the bidirectional slide assembly, and each of the grab assemblies has a rotatable grab unit; The end effector has a first working state and a second working state. In the first working state, the two grabbing units are respectively located on both sides of the foreign object, and the two grabbing units are kept relatively arranged. The bidirectional slide assembly drives the two grabbing units to move closer to each other to grab the gangue or away from each other to release the gangue. In the second working state, the two grabbing units are located on the same side of the gangue to move the foreign object. The grabbing assembly further comprises: A rotary cylinder (9), wherein the rotary cylinder (9) is mounted on the bidirectional slide assembly; A pusher claw mounting seat (3), wherein the pusher claw mounting seat (3) is mounted on the output end of the rotary cylinder (9), and the grabbing unit is mounted on the pusher claw mounting seat (3); The grabbing unit comprises: A mounting block (12), one side of the mounting block (12) is mounted on the pusher claw mounting seat (3) via a pillar (10), and a patch-type stress sensor (2) is provided on the pillar (10); A plurality of fingers (1) are mounted on the other side of the mounting block (12).

2. The end effector mechanism of the coal gangue sorting robot with a pulling and grasping mechanism according to claim 1 is characterized in that: The plurality of fingers (1) are evenly spaced apart on the mounting block (12); the fingers (1) are arc-shaped rods; and the plurality of fingers (1) are parallel to each other.

3. The end effector mechanism of the coal gangue sorting robot with a pulling and grasping function according to claim 1 is characterized in that: The bidirectional slide assembly comprises: Mounting seat (7); a stepper motor (4), the stepper motor (4) being mounted on one end of the mounting base (7); a bidirectional lead screw (6), one end of which is directly connected to the output end of the stepping motor (4), and the other end of which is rotatably mounted on the mounting seat (7); A first slider (5), wherein the first slider (5) is sleeved on the bidirectional lead screw (6), and a rotary cylinder (9) is mounted on the first slider (5); A second slider (8) is sleeved on the bidirectional lead screw (6), and the other rotary cylinder (9) is mounted on the second slider (8).

4. The end effector mechanism of the coal gangue sorting robot with a pulling and grasping function according to claim 3 is characterized in that: The bidirectional slide assembly further comprises a guide rod (11), wherein the guide rod (11) is mounted on the mounting seat (7), the guide rod (11) is parallel to the bidirectional lead screw (6), and the first slider (5) and the second slider (8) are both slidably connected to the guide rod (11).

5. The end effector mechanism of the coal gangue sorting robot with a pulling and grasping function according to claim 4 is characterized in that: There are two guide rods (11), and the bidirectional lead screw (6) is located between the two guide rods (11).

6. The end effector mechanism of the coal gangue sorting robot with a pulling and grasping function according to claim 3, characterized in that: The bidirectional screw (6) has a left half and a right half, the thread rotation direction on the left half is opposite to the thread rotation direction on the right half, the first slider (5) is located in the left half, and the second slider (8) is located in the right half.

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