Mechanical claw for sorting coal gangue and sleepers

Abstract

The application discloses a mechanical claw for sorting coal gangue and sleepers, which comprises a mounting plate, a power assembly installed on the mounting plate, a guide seat, a transmission assembly installed on the guide seat, the transmission assembly being in transmission connection with the power assembly, two guide gaps being formed in the guide seat, and two grabbing assemblies being oppositely arranged and connected with the transmission assembly. Each grabbing assembly comprises two movable fingers, one movable finger being arranged in one guide gap and the other movable finger being arranged in the other guide gap. The transmission assembly drives the two grabbing assemblies to move close to or away from each other. In the process that the two grabbing assemblies move close to each other, the distance between the two movable fingers on each grabbing assembly increases. In the process that the two grabbing assemblies move away from each other, the distance between the two movable fingers on each grabbing assembly decreases. When the two movable fingers are close to each other, the mechanical claw can better enter the periphery of the coal gangue or the sleeper in the case that there is coal around the coal gangue or the sleeper, and the mechanical claw has better applicability and better grabbing effect.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical hands, and particularly relates to a mechanical claw for sorting coal gangue and sleepers. BACKGROUND

[0002] Coal mines are the main energy sources in the human production process. In the process of coal mining, not only coal is mined, but also impurities such as coal gangue and sleepers are mixed. The traditional manual sorting has low efficiency and causes great harm to the laborers. At present, a mechanical sorting method is gradually used to screen out coal gangue and sleepers.

[0003] Generally, the traditional mechanical hand contracts the grabbing component from the periphery of the coal gangue or coal to the center to complete grabbing, which requires more activity space. For example, the patent CN217552432U discloses a mechanical claw for grabbing impurities in ore. Two gripper assemblies need to be expanded outwardly and then contracted inwardly to grab. However, there is coal around the periphery of the coal gangue or coal. Since the gripper assembly is large in size, it is difficult to find a suitable position to move the gripper assembly to the periphery of the impurities, thus causing difficulty in grabbing. SUMMARY

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

[0005] To this end, the present application provides a mechanical claw for sorting coal gangue and sleepers, which has the advantages of small occupied space and convenient grabbing.

[0006] The mechanical claw for sorting coal gangue and sleepers according to the embodiments of the present application comprises: a mounting plate, wherein a power assembly is mounted on the mounting plate; a guide seat, wherein a transmission assembly is mounted on the guide seat, the transmission assembly is in transmission connection with the power assembly, and the guide seat has two guide gaps; and two grabbing assemblies, wherein the two grabbing assemblies are oppositely arranged, the two grabbing assemblies are connected with the transmission assembly, the grabbing assembly comprises two movable fingers, one movable finger is arranged in one guide gap, and the other movable finger is arranged in the other guide gap, the transmission assembly drives the two grabbing assemblies to move close to or away from each other, the distance between the corresponding two movable fingers on each grabbing assembly increases during the process of moving close to each other of the two grabbing assemblies, and the distance between the corresponding two movable fingers on each grabbing assembly decreases during the process of moving away from each other of the two grabbing assemblies.

[0007] The present application has the advantages that the present application is simple and compact, two movable fingers are guided by two guide gaps on the guide seat respectively, two movable fingers on the same grabbing assembly are expanded during the approaching of the two grabbing assemblies, so that the grabbing operation is facilitated, and the two movable fingers are close to each other when not grabbing, so that the present application can better enter the periphery of coal gangue or a sleeper in the case that there is coal around the coal gangue or the sleeper, and the applicability and grabbing effect are better.

[0008] According to an embodiment of the present application, the power assembly comprises a motor and a driving gear, the motor is installed on the mounting plate, and the output end of the motor is connected with the driving gear.

[0009] According to an embodiment of the present application, the guide seat comprises two mounting blocks, a guide plate and two guide strips, the two mounting blocks are oppositely arranged, one end of the guide plate is connected with one mounting block, the other end of the guide plate is connected with the other mounting block, the two guide strips are symmetrically arranged on the two sides of the guide plate, one end of the guide strip is connected with one mounting block, the other end of the guide strip is connected with the other mounting block, the guide plate and one guide strip form a guide gap, and the guide plate and the other guide strip form another guide gap.

[0010] According to an embodiment of the present application, the two guide gaps are symmetrically arranged, each guide gap comprises a middle section, a first end connected with one end of the middle section and a second end connected with the other end of the middle section, the two middle sections are parallel, the distance between the two first ends gradually decreases in the direction away from the middle section, and the distance between the two second ends gradually decreases in the direction away from the middle section.

[0011] According to an embodiment of the present application, the transmission assembly comprises a bidirectional threaded rod and a driven gear, one end of the bidirectional threaded rod is rotatably connected with one mounting block, the other end of the bidirectional threaded rod is rotatably connected with the other mounting block, the driven gear is sleeved on the middle part of the bidirectional threaded rod, and the driven gear is engaged with the driving gear.

[0012] According to an embodiment of the present application, one part of the bidirectional threaded rod is formed as a left-handed threaded rod, and the other part of the bidirectional threaded rod is formed as a right-handed threaded rod.

[0013] According to an embodiment of the present application, the grabbing assembly comprises a moving slide rail and a threaded block, the threaded block is installed on the moving slide rail, the threaded block on one grabbing assembly is threadedly connected with the left-handed threaded rod, and the threaded block on the other grabbing assembly is threadedly connected with the right-handed threaded rod.

[0014] According to one embodiment of the present application, a guide hole is formed in the moving slide rail and penetrates in the thickness direction, the guide direction of the guide hole is perpendicular to the axis of the bidirectional threaded rod, and the length of the guide hole is greater than the distance between the two middle sections.

[0015] According to one embodiment of the present application, a limiting pin is installed on the movable finger, the limiting pin is clamped in the guide hole, and a bearing is installed on the outside of the limiting pin and located in the guide gap.

[0016] According to one embodiment of the present application, a connecting flange is installed on the mounting plate and used to connect a mechanical arm.

[0017] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application.

[0018] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described with reference to the attached drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments with reference to the accompanying drawings, in which:

[0020] Figure 1 is a schematic view of the three-dimensional structure of a mechanical claw for sorting coal gangue and crossties according to the present application;

[0021] Figure 2 is a schematic view of the upper structure of a mechanical claw for sorting coal gangue and crossties according to the present application;

[0022] Figure 3 is a schematic view of the structure of a guide seat in a mechanical claw for sorting coal gangue and crossties according to the present application;

[0023] Figure 4 is a schematic view of the structure of a movable finger and a moving slide rail in a mechanical claw for sorting coal gangue and crossties according to the present application;

[0024] Figure 5 is a schematic view of the structure of a movable finger and a guide seat in a mechanical claw for sorting coal gangue and crossties according to the present application;

[0025] Figure 6 is a view of the state of a mechanical claw for sorting coal gangue and crossties according to the present application when opened;

[0026] Figure 7 is a view of the state of a mechanical claw for sorting coal gangue and crossties according to the present application when grabbing;

[0027] REFERENCE NUMERALS

[0028] Connecting flange 1, motor 2, left-handed threaded rod 3, mounting plate 4, guide seat 5, right-handed threaded rod 6, moving slide rail 7, movable finger 8, driving gear 21, driven gear 31, mounting block 51, guide plate 52, guide strip 53, guide gap 54, threaded block 71, guide hole 72, limit pin 81, bearing 82. DETAILED DESCRIPTION

[0029] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, and are used only for the purpose of explaining the present application, and cannot be understood as a limitation of the present application.

[0030] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features defined as "first", "second" can be explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0031] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] The mechanical claw for sorting coal gangue and crosstie is described in detail below with reference to the drawings.

[0033] As Figure 1As shown, the mechanical claw for sorting coal gangue and sleepers according to the embodiment of the application comprises a mounting plate 4, a guide seat 5 and two grabbing assemblies, the mounting plate 4 is provided with a power assembly, the guide seat 5 is provided with a transmission assembly, the transmission assembly is in transmission connection with the power assembly, the guide seat 5 is provided with two guide gaps 54, the two grabbing assemblies are oppositely arranged, the two grabbing assemblies are connected with the transmission assembly, the grabbing assembly comprises two movable fingers 8, one movable finger 8 is arranged in one guide gap 54, the other movable finger 8 is arranged in the other guide gap 54, the transmission assembly drives the two grabbing assemblies to approach or move away from each other, the distance between the corresponding two movable fingers 8 on each grabbing assembly increases during the process that the two grabbing assemblies approach each other, and the distance between the corresponding two movable fingers 8 on each grabbing assembly decreases during the process that the two grabbing assemblies move away from each other.

[0034] In other words, in the embodiment, the mounting plate 4 is arranged above the guide seat 5, the two grabbing assemblies are arranged on the guide seat 5, the power assembly drives the two grabbing assemblies to approach or move away from each other through the transmission assembly, and the two movable fingers 8 on each grabbing assembly synchronously expand or contract under the guidance of the guide gap 54 during the movement of the grabbing assembly.

[0035] Therefore, the application has simple and compact structure, the two guide gaps 54 on the guide seat 5 guide the two movable fingers 8 respectively, the two movable fingers 8 on the same grabbing assembly expand during the process that the two grabbing assemblies approach each other, so that the grabbing operation is facilitated, generally, the robot needs to be placed in an open state during grabbing, and then is contracted inward to complete the grabbing, in the case that there is an obstacle around the coal gangue or sleepers, the open robot is difficult to be directly placed around the coal gangue or sleepers, the two movable fingers 8 of the application are close to each other when not grabbing, only two accommodating gaps are needed around the coal gangue or sleepers, the application can better enter the periphery of the coal gangue or sleepers in the case that there is coal around the coal gangue or sleepers, has better applicability, and has better grabbing effect.

[0036] According to one embodiment of the application, the power assembly comprises a motor 2 and a driving gear 21, the motor 2 is arranged on the mounting plate 4, and the output end of the motor 2 is connected with the driving gear 21. The motor 2 is preferably a stepping motor in the embodiment.

[0037] Further, the guide seat 5 comprises two mounting blocks 51, a guide plate 52 and two guide strips 53, the two mounting blocks 51 are oppositely arranged, one end of the guide plate 52 is connected with one mounting block 51, the other end of the guide plate 52 is connected with the other mounting block 51, the two guide strips 53 are symmetrically arranged at two sides of the guide plate 52, one end of the guide strip 53 is connected with one mounting block 51, the other end of the guide strip 53 is connected with the other mounting block 51, a guide gap 54 is formed between the guide plate 52 and one guide strip 53, another guide gap 54 is formed between the guide plate 52 and the other guide strip 53.

[0038] In combination Figure 3 , the two guide gaps 54 are symmetrical to each other, each guide gap 54 comprises a middle section, a first end connected with one end of the middle section and a second end connected with the other end of the middle section, the two middle sections are parallel to each other, the distance between the two first ends gradually decreases along the direction away from the middle section, the distance between the two second ends gradually decreases along the direction away from the middle section.

[0039] That is to say, in the embodiment, the guide plate 52 and the two guide strips 53 are in the same plane, one guide strip 53 matches the profile of one side of the guide plate 52, the other guide strip 53 matches the profile of the other side of the guide plate 52, the guide plate 52 is a symmetrical structure, the middle part of the guide plate 52 is a rectangular structure, the end part is a pointed structure formed by two symmetrical circular arcs, corresponding to the guide plate 52, the middle part of the guide strip 53 is a flat structure, the end part is a curved arc surface structure. And in the embodiment, the width of each part in the guide gap 54 remains the same.

[0040] According to one embodiment of the present application, the transmission assembly comprises a bidirectional threaded rod and a driven gear 31, one end of the bidirectional threaded rod is rotatably connected with one mounting block 51, the other end of the bidirectional threaded rod is rotatably connected with the other mounting block 51, the driven gear 31 is sleeved on the middle part of the bidirectional threaded rod, and the driven gear 31 is engaged with the driving gear 21.

[0041] Preferably, one part of the bidirectional threaded rod is formed as a left-handed threaded rod 3, and the other part of the bidirectional threaded rod is formed as a right-handed threaded rod 6. In the present application, one half of the bidirectional threaded rod is formed as a left-handed threaded rod 3, and the other half of the bidirectional threaded rod is formed as a right-handed threaded rod 6, and the driven gear 31 is located at the middle position of the bidirectional threaded rod.

[0042] More preferably, the grabbing assembly comprises a moving slide rail 7 and a threaded block 71, the threaded block 71 is installed on the moving slide rail 7, the threaded block 71 on one grabbing assembly is threadedly connected with the left-handed threaded rod 3, and the threaded block 71 on the other grabbing assembly is threadedly connected with the right-handed threaded rod 6.

[0043] In other words, in order to realize the single motor 2 driving the two grabbing assemblies to move in different directions at the same time, the threads of the two parts of the bidirectional threaded rod are designed to be different in the rotation direction, and when the bidirectional threaded rod rotates, the two grabbing assemblies move in opposite directions.

[0044] Further, the moving slide rail 7 is provided with a guide hole 72 penetrating in the thickness direction, the guide direction of the guide hole 72 is perpendicular to the axis of the bidirectional threaded rod, and the length of the guide hole 72 is greater than the distance between the two middle sections.

[0045] Further, the movable finger 8 is provided with a limiting pin 81, the limiting pin 81 is clamped in the guide hole 72, and the outer part of the limiting pin 81 is provided with a bearing 82, and the bearing 82 is located in the guide gap 54.

[0046] That is, the movable finger 8 is limited by the guide hole 72 on one hand and the guide gap 54 on the other hand, thereby ensuring the stability of the movement of the movable finger 8.

[0047] According to an embodiment of the present application, the mounting plate 4 is provided with a connecting flange 1, and the connecting flange 1 is used to connect the mechanical arm.

[0048] In operation, the mechanical claw is installed on the mechanical arm through the connecting flange 1, the vision device of the sorting system is used to identify the coal gangue, the sleeper and the coal, and the space around the coal gangue or the sleeper that can accommodate the movable finger 8, the mechanical arm drives the mechanical claw to move above the coal gangue or the sleeper, the mechanical hand is in the open state, and when the mechanical hand moves around the coal gangue or the sleeper, the motor 2 works, and in the process of the two grabbing assemblies moving close to each other, the two movable fingers 8 on the same grabbing assembly are opened, so that the coal is pushed to the two sides, thereby avoiding the interference of the coal with the grabbing action.

[0049] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0050] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A mechanical claw for sorting coal gangue and crossties, characterized in that, The utility model provides a kind of automatic grabbing machine, including: Mounting plate (4), power assembly is mounted on the mounting plate (4); Guide seat (5), transmission assembly is mounted on the guide seat (5), the transmission assembly is drivingly connected with the power assembly, the guide seat (5) has two guide gaps (54); Two grabbing assemblies, two the grabbing assemblies are oppositely arranged, two the grabbing assemblies are connected with the transmission assembly, the grabbing assembly includes two movable fingers (8), one movable finger (8) is arranged in one guide gap (54), another movable finger (8) is arranged in another guide gap (54), the transmission assembly drives two the grabbing assemblies to approach or move away from each other, the distance between corresponding two movable fingers (8) on each grabbing assembly increases during the approach of two the grabbing assemblies, the distance between corresponding two movable fingers (8) on each grabbing assembly decreases during the movement away from each other of two the grabbing assemblies; Two the guide gaps (54) are symmetrical, each guide gap (54) includes middle section, first end connected with one end of middle section and second end connected with the other end of middle section, two middle sections are parallel, the distance between two first ends gradually decreases along the direction away from middle section, the distance between two second ends gradually decreases along the direction away from middle section.

2. The mechanical claw for sorting coal waste and crossties according to claim 1, characterized in that, The power assembly includes motor (2) and driving gear (21), the motor (2) is mounted on the mounting plate (4), the output end of the motor (2) is connected with the driving gear (21).

3. The mechanical claw for sorting coal waste and crossties according to claim 2, characterized in that, The guide seat (5) includes two mounting blocks (51), guide plate (52) and two guide bars (53), two the mounting blocks (51) are oppositely arranged, one end of the guide plate (52) is connected with one the mounting block (51), the other end of the guide plate (52) is connected with another the mounting block (51), two guide bars (53) are symmetrically arranged on both sides of the guide plate (52), one end of the guide bar (53) is connected with one the mounting block (51), the other end of the guide bar (53) is connected with another the mounting block (51), the guide plate (52) and one the guide bar (53) form one guide gap (54), the guide plate (52) and another the guide bar (53) form another guide gap (54).

4. The mechanical claw for sorting coal waste and crossties according to claim 3, characterized in that, The transmission assembly includes bidirectional threaded rod and driven gear (31), one end of the bidirectional threaded rod is rotatably connected with one the mounting block (51), the other end of the bidirectional threaded rod is rotatably connected with another the mounting block (51), the driven gear (31) is sleeved on the middle part of the bidirectional threaded rod, the driven gear (31) is engaged with the driving gear (21).

5. The mechanical claw for sorting coal waste and crossties according to claim 4, characterized in that, Part of the bidirectional threaded rod is formed into left-handed threaded rod (3), another part of the bidirectional threaded rod is formed into right-handed threaded rod (6).

6. The mechanical claw for sorting coal waste and crossties according to claim 5, characterized in that, The grabbing assembly comprises a moving slide rail (7) and a threaded block (71), the threaded block (71) is installed on the moving slide rail (7), the threaded block (71) on one grabbing assembly is in threaded connection with the left-hand threaded rod (3), and the threaded block (71) on the other grabbing assembly is in threaded connection with the right-hand threaded rod (6).

7. The mechanical claw for sorting coal waste and crossties according to claim 6, characterized in that, A guide hole (72) penetrating in the thickness direction is formed in the moving slide rail (7), the guide direction of the guide hole (72) is perpendicular to the axis of the bidirectional threaded rod, and the length of the guide hole (72) is greater than the distance between the two middle sections.

8. The mechanical claw for sorting coal waste and crossties according to claim 7, characterized in that, A limiting pin (81) is installed on the movable finger (8), the limiting pin (81) is clamped in the guide hole (72), a bearing (82) is arranged outside the limiting pin (81), and the bearing (82) is located in the guide gap (54).

9. The mechanical claw for sorting coal waste and crossties according to claim 1, characterized in that, A connecting flange (1) is installed on the mounting plate (4), and the connecting flange (1) is used for connecting a mechanical arm.

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