Multi-functional gangue selecting robot gripper system

Abstract

The application discloses a multifunctional gangue selecting robot gripper system, which comprises a connecting support, a base, a multi-connecting-rod gripper, a cylinder, a servo motor and a transmission mechanism; the connecting support is connected with an external robot, the base is installed on the connecting support, the multi-connecting-rod gripper is connected with the base through the transmission mechanism, the fixed end of the cylinder is connected on the connecting support, the telescopic end of the cylinder is connected on the multi-connecting-rod gripper, the servo motor is installed on the base, and the output shaft of the servo motor is connected with the transmission mechanism. The multifunctional gangue selecting robot gripper system realizes the functions of grabbing, pushing away and cooperative holding, can quickly switch between different function states to adapt to the needs of actual application working conditions on site, and takes into account the sorting precision and the sorting efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robot grippers for slag sorting, in particular to a multifunctional robot gripper system for slag sorting. Background Art

[0002] The use of intelligent gangue sorting robots for gangue sorting is becoming a mainstream development direction. The gripper at the end of the robot, as the actuator for sorting gangue, has a significant impact on the sorting method, accuracy, and efficiency. Currently, there are two common methods for gangue sorting robots: grasping and pushing, each with its own advantages and disadvantages.

[0003] The advantages of the existing gangue sorting robot grasping method are high sorting accuracy; the disadvantages are: 1. The gripper occupies a large working space. When the coal and gangue are densely distributed, the gripper is likely to collide with the coal or gangue when lowered; 2. The robot has high requirements for its carrying capacity.

[0004] The advantage of the existing gangue sorting robot separation method is that it has low requirements on the robot's carrying capacity; the disadvantages are: 1. The separation path needs to be planned in real time; 2. When coal blocks and gangue are densely distributed, it is easy to separate the coal blocks together, affecting the sorting accuracy and causing waste of coal blocks.

[0005] When site conditions permit, robotic sorting systems often incorporate a sorting device to separate the coal and gangue streams into two columns, facilitating their capture or separation. However, densely distributed coal and gangue often occur on-site, making it difficult to achieve optimal results with a single capture or separation method. Furthermore, while integrated grippers with both capture and separation are currently available and address some of the shortcomings of single sorting methods, they still suffer from complex and bulky structures and insecure gripping. Summary of the Invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0007] To this end, the present invention proposes a multifunctional gangue sorting robot gripper system, which realizes the functions of grasping, pulling away and collaborative holding. The various functional states can be quickly switched to meet the needs of actual application conditions on site, taking into account both sorting accuracy and sorting efficiency.

[0008] According to an embodiment of the present invention, a multifunctional gangue sorting robot gripper system includes a connecting bracket, a base, a multi-link gripper, a cylinder, a servo motor and a transmission mechanism; the connecting bracket is connected to an external robot, the base is installed on the connecting bracket, the multi-link gripper is connected to the base through a transmission mechanism, the fixed end of the cylinder is connected to the connecting bracket, the telescopic end of the cylinder is connected to the multi-link gripper, the servo motor is installed on the base, and the output shaft of the servo motor is connected to the transmission mechanism.

[0009] The beneficial effects of the present invention are that the gangue sorting robot gripper system of the present invention can realize the functions of grasping, pulling away and collaborative holding, and can quickly switch between the functional states to adapt to the needs of actual application conditions on site, taking into account both sorting accuracy and sorting efficiency; the functional state transformation structure of the multi-link gripper is not only simple and practical, but also very reliable; the multi-link gripper occupies a small space, and when the gripper is lowered, the probability of collision with gangue or coal blocks can be minimized; the dual robot gripper collaborative holding and sorting method provides a new idea for the sorting of large gangue.

[0010] According to one embodiment of the present invention, the multi-link gripper includes four parallelogram linkage mechanisms, and the four parallelogram linkage mechanisms are distributed in a matrix; among the four parallelogram linkage mechanisms, the two parallelogram linkage mechanisms located in the front-to-back direction are set to be the same, and the two parallelogram linkage mechanisms located in the left-to-right direction are set to be symmetrical structures.

[0011] According to one embodiment of the present invention, the connection between the two parallelogram linkage mechanisms located in the left and right directions is achieved through the first link connecting shaft and the worm gear shaft of the transmission mechanism.

[0012] According to one embodiment of the present invention, a parallelogram linkage mechanism includes a first link, a second link, a third link, and a fourth link; the first link and the fourth link are arranged in parallel, and the second link and the third link are arranged in parallel.

[0013] According to one embodiment of the present invention, the first connecting rod and the third connecting rod, the third connecting rod and the fourth connecting rod, and the second connecting rod and the fourth connecting rod are all connected by pins; the first connecting rod is connected to the worm gear shaft, and the first connecting rod rotates around the worm gear shaft; the second connecting rod is connected to the worm gear shaft, and the second connecting rod rotates with the worm gear shaft.

[0014] According to one embodiment of the present invention, a motor mounting plate is further included. The motor mounting plate is mounted on the base, and the servo motor is mounted on the motor mounting plate.

[0015] According to one embodiment of the present invention, the transmission mechanism also includes a first sliding bearing, a worm wheel, a worm shaft, a second sliding bearing, a worm and a third sliding bearing; the first sliding bearing is fixed on the base, the worm wheel shaft is connected to the base through the first sliding bearing, the worm wheel is connected to the worm wheel shaft and rotates with the worm wheel shaft, the second sliding bearing is fixed on the motor mounting plate, the third sliding bearing is fixed on the base, the worm shaft passes through the second sliding bearing, the third sliding bearing is connected between the base and the motor mounting plate, the worm is connected to the worm shaft and rotates with the worm shaft, and the worm wheel and worm cooperate to realize worm gear transmission.

[0016] According to one embodiment of the present invention, the transmission mechanism further includes a positioning ring fixed on the worm shaft for limiting the axial movement of the worm wheel.

[0017] According to one embodiment of the present invention, the transmission mechanism further includes a second sleeve and a third sleeve, and the second sleeve and the third sleeve are inserted into the worm shaft to limit the axial movement of the worm.

[0018] According to one embodiment of the present invention, the transmission mechanism further includes a first sleeve, which is sleeved on the worm gear shaft to limit the axial movement of the first connecting rod and the second connecting rod.

[0019] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0020] 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

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic diagram of the overall structure of the multifunctional gangue sorting robot gripper system of the present invention;

[0023] Figure 2 Schematic diagram of the structure of the multi-link gripper of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the transmission mechanism of the present invention;

[0025] Figure 4 It is a schematic diagram of the pneumatic mechanism of the present invention;

[0026] Figure 5 This is a schematic diagram of the initial state of the gripper in grasping mode;

[0027] Figure 6 This is a schematic diagram of the gripper's grasping state in grasping mode;

[0028] Figure 7 This is a schematic diagram of the working state of the gripper in the pull-off mode;

[0029] Figure 8 This is a schematic diagram of the initial state of the gripper in the collaborative grasping mode;

[0030] Figure 9 This is a schematic diagram of the collaborative grasping state of the gripper in collaborative grasping mode;

[0031] Figure 10 This is the control flow chart of the gripper sorting function transformation.

[0032] The numbers in the figure are: 1. Connecting bracket; 2. Base; 3. Multi-link gripper; 4. Cylinder; 5. Servo motor; 6. Transmission mechanism; 7. Motor mounting plate; 8. Protective plate; 31. First connecting rod; 32. Second connecting rod; 33. Third connecting rod; 34. Fourth connecting rod; 35. Pin; 36. First connecting rod connecting shaft; 61. Worm gear shaft; 62. First sliding bearing; 63. First sleeve; 64. Worm gear; 65. Locating ring; 66. Worm shaft; 67. Second sliding bearing; 68. Worm; 69. Second sleeve; 610. Third sliding bearing; 611. Third sleeve. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "one side", "the other side", "both sides", "between", "middle", "upper end", "lower end", etc., indicating the orientation or position relationship, are based on the orientation or position relationship 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 a limitation on the present invention.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections, and may be directly connected or indirectly connected through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0036] The multifunctional gangue sorting robot gripper system according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] See Figure 1The multifunctional gangue sorting robot gripper system of the present invention includes a connecting bracket 1, a base 2, a multi-link gripper 3, a cylinder 4, a servo motor 5, a transmission mechanism 6, a motor mounting plate 7 and a protective plate 8. The connecting bracket 1 is connected to the external robot, the base 2 is mounted on the connecting bracket 1, the multi-link gripper 3 is connected to the base 2 through the transmission mechanism 6, the fixed end of the cylinder 4 is connected to the connecting bracket 1, the telescopic end of the cylinder 4 is connected to the multi-link gripper 3, the servo motor 5 is mounted on the base 2, and the output shaft of the servo motor 5 is connected to the transmission mechanism 6. The motor mounting plate 7 is mounted on the base 2, and the servo motor 5 is mounted on the motor mounting plate 7. The protective plate 8 is used to protect the transmission mechanism 6, and the protective plate 8 is mounted on the base 2.

[0038] Specifically, the multifunctional gangue sorting robot gripper system mainly includes eight parts, namely a connecting bracket 1, a base 2, a multi-link gripper 3, a cylinder 4, a servo motor 5, a transmission mechanism 6, a motor mounting plate 7 and a protective plate 8. The multifunctional gangue sorting robot gripper system is connected to the external robot end mounting flange through the upper flange of the connecting bracket 1, and the lower flange of the connecting bracket 1 is fixed to the base 2 by bolts. The multi-link gripper 3 is connected to the base 2 through the worm gear shaft 61 in the transmission mechanism 6, and the cylinder end of the cylinder 4 is connected to the upper flange of the connecting bracket 1, and the piston rod end of the cylinder 4 is connected to the first connecting rod connecting shaft 36 of the multi-link gripper 3. The servo motor 5 is fixed to the motor mounting plate 7 by bolts, and the motor mounting plate 7 is fixed to the base 2 by bolts. The output shaft of the servo motor 5 is inserted into the worm shaft 66 of the transmission mechanism 6, and the worm shaft 66 is rotated with the output shaft of the servo motor 5 through a flat key connection. The transmission mechanism 6 is connected to the base 2 and the motor mounting plate 7 through the worm gear shaft 61 and the worm shaft 66. The protective plate 8 is fixed to the base 2 by bolts to protect the transmission mechanism 6.

[0039] See Figure 2 The multi-link gripper 3 includes four parallelogram linkage mechanisms, and the four parallelogram linkage mechanisms are distributed in a matrix. Among the four parallelogram linkage mechanisms, the two parallelogram linkage mechanisms located in the front-to-back direction are set to be the same, and the two parallelogram linkage mechanisms located in the left-to-right direction are set to be symmetrical structures.

[0040] Specifically, the multi-link gripper 3 primarily consists of six components: a first link 31, a second link 32, a third link 33, a fourth link 34, a pin 35, and a first link connecting shaft 36. The connection between the two parallelogram linkages in the left and right directions is achieved via the first link connecting shaft 36 and the worm gear shaft 61 of the transmission mechanism 6. The parallelogram linkage includes the first link 31, the second link 32, the third link 33, and the fourth link 34; the first link 31 and the fourth link 34 are arranged parallel to each other, while the second link 32 and the third link 33 are arranged parallel to each other. The first connecting rod 31 and the third connecting rod 33, the third connecting rod 33 and the fourth connecting rod 34, and the second connecting rod 32 and the fourth connecting rod 34 are all connected by a pin shaft 35; the first connecting rod 31 is connected to the worm gear shaft 61, and the first connecting rod 31 rotates around the worm gear shaft 61; the second connecting rod 32 is connected to the worm gear shaft 61 through a flat key, and the second connecting rod 32 rotates with the worm gear shaft 61.

[0041] See Figure 3 The transmission mechanism 6 mainly includes eleven parts, namely, a worm shaft 61, a first sliding bearing 62, a first sleeve 63, a worm wheel 64, a positioning ring 65, a worm shaft 66, a second sliding bearing 67, a worm 68, a second sleeve 69, a third sliding bearing 610 and a third sleeve 611; the first sliding bearing 62 is fixed to the base 2, the worm shaft 61 is connected to the base 2 through the first sliding bearing 62, the worm wheel 64 is connected to the worm shaft 61 through a flat key and rotates with the worm shaft 61, the positioning ring 65 is fixed to the worm shaft 66 to limit the axial movement of the worm wheel 64, and the second The sliding bearing 67 is fixed on the motor mounting plate 7, the third sliding bearing 610 is fixed on the base 2, the worm shaft 66 passes through the second sliding bearing 67 and the third sliding bearing 610 and is connected between the base 2 and the motor mounting plate 7, the worm 68 is connected to the worm shaft 66 through a flat key and rotates with the worm shaft 66, the second sleeve 69 and the third sleeve 611 are passed through the worm shaft 66 to limit the axial movement of the worm 68, the first sleeve 63 is mounted on the worm wheel shaft 61 to limit the axial movement of the first connecting rod 31 and the second connecting rod 32, and the worm wheel 64 cooperates with the worm 68 to realize worm gear transmission.

[0042] The present invention also provides a new sorting method, which is the collaborative picking of two robot grippers. The multifunctional gangue sorting robot gripper system mainly operates in two parts:

[0043] First action part: the servo motor 5 drives the second link 32 of the multi-link gripper 3 to change the angle; the specific action steps are:

[0044] In step 1.1, the output shaft of the servo motor 5 drives the worm shaft 66 to rotate;

[0045] In step 1.2, the worm shaft 66 drives the worm 68 to rotate;

[0046] In step 1.3, the worm 68 drives the worm wheel 64 to rotate;

[0047] In step 1.4, the worm gear 64 drives the worm gear shaft 61 to rotate;

[0048] In step 1.5, the worm gear shaft 61 drives the second connecting rod 32 to rotate, thereby achieving an angle change of the second connecting rod 32.

[0049] Second action part: The cylinder 4 drives the fourth link 34 of the multi-link gripper 3 to change the angle; the specific action steps are:

[0050] In step 2.1, the telescopic movement of the cylinder 4 causes the first connecting rod connecting shaft 36 to change position;

[0051] In step 2.2, the first connecting rod connecting shaft 36 drives the first connecting rod 31 to move, so that the first connecting rod 31 rotates around the worm gear shaft 61;

[0052] In step 2.3, based on the characteristics of the parallelogram linkage mechanism, the fourth link 34 rotates at the same angle as the first link 31 , thereby achieving an angle change of the fourth link 34 .

[0053] See Figure 4 , G1 represents the air source, V1 represents the pneumatic triplet, R1 represents the safety valve, B1 represents the pressure sensor, Q1 represents the first three-position five-way solenoid valve, Q2 represents the second three-position five-way solenoid valve, R2 represents the first one-way throttle valve, R3 represents the second one-way throttle valve, M1 represents the first cylinder, M2 represents the second cylinder, Y1 represents the solenoid coil of the first solenoid valve, Y2 represents the solenoid coil of the second solenoid valve, Y3 represents the solenoid coil of the third solenoid valve, and Y4 represents the solenoid coil of the fourth solenoid valve.

[0054] The air pressure setting value of the safety valve R1 is used to protect the multifunctional gangue sorting robot's gripper system when it is in working state.

[0055] The first three-position five-way solenoid valve Q1 is used to control the extension and retraction of the first cylinder M1.

[0056] The second three-position five-way solenoid valve Q2 is used to control the extension and retraction of the second cylinder M2.

[0057] When the electromagnetic coil Y1 of the first solenoid valve is energized, the first cylinder M1 extends.

[0058] When the electromagnetic coil Y3 of the third solenoid valve is energized, the second cylinder M2 extends.

[0059] When the electromagnetic coil Y2 of the second solenoid valve is energized, the first cylinder M1 retracts.

[0060] When the electromagnetic coil Y4 of the fourth solenoid valve is energized, the second cylinder M2 retracts.

[0061] The first one-way throttle valve R2 is used to adjust the extension and contraction speed of the first cylinder M1.

[0062] The second one-way throttle valve R3 is used to adjust the extension and contraction speed of the second cylinder M2.

[0063] Pressure sensor B1 is used to monitor the system pressure. When the first cylinder M1 and the second cylinder M2 are controlled to extend to grasp the gangue, the controller reads the pressure value of pressure sensor B1 in real time. When the set value is reached, the first three-position five-way solenoid valve Q1 is de-energized and locks the first cylinder M1, and the second three-position five-way solenoid valve Q2 is de-energized and locks the second cylinder M2.

[0064] The multifunctional gangue sorting robot gripper system of the present invention has three functions of grasping, pulling away and collaborative holding, and can quickly switch between the three functional states to meet the needs of actual application conditions on site.

[0065] See Figure 5 and Figure 6 , Grasping function (claw grasping mode): When the multifunctional gangue sorting robot claw system realizes the grasping function, the initial state of the multi-link claw 3 is as follows Figure 5 As shown, the cylinders 4 on both sides are fully retracted, and the fourth link 34 of the multi-link gripper 3 is vertically downward, that is, the four fourth links 34 are vertically downward. According to the size of the gangue identified, the angle of the second link 32 is adjusted by the servo motor 5, so that the spacing of the fourth links 34 reaches a suitable state, so as to minimize the probability of the multi-link gripper 3 colliding with gangue or coal blocks when it is lowered. Specifically, in the initial state, the multi-link gripper 3 will adjust the angle of the second link 32 by controlling the servo motor 5 according to the size of the gangue identified by the image, so that the opening of the multi-link gripper 3 reaches a suitable state. When it is lowered in this state, combined with the extremely small space size at the end of the first link 31, the probability of the multi-link gripper 3 colliding with coal or gangue when it is lowered can be minimized, thereby achieving effective protection for the multi-link gripper 3. The grasping state of the multi-link gripper 3 is shown as follows. Figure 6 As shown, the cylinders 4 on both sides extend outward at the same time, and the fourth link 34 of the multi-link gripper 3 tilts inward, that is, the four fourth links 34 all tilt inward. Based on the self-locking function of the worm gear, the angle of the second link 32 can remain firmly unchanged. By controlling the extension of the cylinder 4, the fourth link 34 tilts inward to grasp the gangue until the pressure of the cylinder 4 reaches the set value.

[0066] Among them, the specific steps to identify the size of gangue and take corresponding actions are:

[0067] Step 1: Acquire the image of gangue through the camera;

[0068] Step ②: Process the image of the gangue through an image processor to obtain the position and size of the gangue;

[0069] In step ③, the controller controls the robotic arm to reach the designated position according to the obtained gangue position, and then lowers the multifunctional gangue sorting robot gripper system. When the multifunctional gangue sorting robot gripper system is lowered, only the four points of the four fourth connecting rods 34 may collide with the gangue or coal blocks. For gangue and coal blocks stacked together, it is easier to use the gap between the gangue and the coal blocks to insert the gripper into the periphery of the gangue and then grab and remove the gangue;

[0070] In step ④, the controller controls the servo motor 5 according to the obtained gangue size, and makes the opening of the multi-link gripper 3 reach the appropriate position through the transmission mechanism 6;

[0071] Step 5: The controller controls the solenoid valve, which controls the cylinder 4 to hold the gangue. This is the general control process.

[0072] See Figure 7 , Separation function (hand claw separation mode): When the multifunctional gangue sorting robot hand claw system realizes the separation function, the working state of the multi-link hand claw 3 is as follows Figure 7 As shown, the servo motor 5 on one side adjusts the angle of the second link 32 on that side, causing the multi-link gripper 3 on that side to move above the base 2. The servo motor 5 on the other side adjusts the angle of the second link 32 on that side to move the fourth link 34 as low as possible. At the same time, the extension and contraction of the cylinder 4 is adjusted to make the fourth link 34 vertical, and the cylinder 4 is locked. At this time, the cylinder 4 is in a fully retracted state. When the gripper is working, it directly relies on the mechanical limit of the cylinder 4 to bear the force, and the multi-functional gangue sorting robot gripper system is transformed into a two-finger claw state. Specifically, the fourth link 34 is kept in a vertical state during the pulling away function to make it easier for the multi-link gripper 3 to insert into the gap between the gangue and the coal block, reducing the probability of collision when the multi-link gripper 3 is lowered.

[0073] See Figure 8 and Figure 9 , Collaborative holding function (hand collaborative holding mode): When the multifunctional slag sorting robot hand system realizes the collaborative holding function, two multifunctional slag sorting robot hand systems are required to be used together to carry large slag. The shape of a single multifunctional slag sorting robot hand system is consistent with the working state of the separation mode, and the control of the hand opening is consistent with the initial state of the grasping mode.

[0074] See Figure 8The multi-link gripper 3 is in its initial state. The gripper systems of the two multifunctional waste sorting robots are mirror images, i.e., they are arranged symmetrically. The inner parallelogram linkage is retracted above the base 2, while the outer fourth link 34 of the parallelogram linkage is in a vertical position. The spacing between the outer fourth links 34 of the two multifunctional waste sorting robot gripper systems is adjusted according to the size of the waste rock.

[0075] See Figure 9 The multi-link gripper 3 is in a coordinated grasping state. The worm gear's self-locking function ensures that the angle of the second link 32 remains securely fixed. By controlling the extension of the cylinders 4 on the corresponding sides of the gripper systems of the two multifunctional waste sorting robots, the fourth link 34 tilts inward until the waste rock is firmly grasped. Specifically, the cylinders 4 on the working sides of the two multifunctional waste sorting robot gripper systems simultaneously extend outward, causing the corresponding first links 31 to tilt inward, collaboratively grasping the waste rock until the pressure in the cylinders 4 reaches the set value.

[0076] In addition, it should be noted that:

[0077] First, when the servo motor 5 rotates forward, the second connecting rod 32 eventually leans inward; when the servo motor 5 rotates reversely, the second connecting rod 32 eventually leans outward.

[0078] 2. When the cylinder 4 extends, the fourth connecting rod 34 tilts inward; when the cylinder 4 contracts, the fourth connecting rod 34 tilts outward; when the cylinder 4 is fully contracted to the limit position, the fourth connecting rod 34 is perpendicular to the ground, that is, the initial position.

[0079] 3. When the prying function is in effect, the cylinder 4 is fully retracted. When the gangue is removed, the gripper posture is maintained by relying on the mechanical limit when the cylinder 4 is fully retracted. Specifically, in the prying mode, the cylinders 4 on both sides are fully retracted, the four first connecting rods 31 are all vertically downward (i.e., the four fourth connecting rods 34 are all in a vertical downward state), the servo motor 5 on one side controls the second connecting rod 32 to rotate counterclockwise upward, so that the first connecting rod 31 and the second connecting rod 32 are completely swung above the base 2, and the servo motor 5 on the other side controls the second connecting rod 32 to rotate clockwise downward, so that the first connecting rod 31 is extended downward as much as possible. At this time, the gripper is in the form of a two-finger prying claw. Under the mechanical limit of the cylinder 4 and the reverse self-locking of the worm gear, it is ensured that the gripper can firmly maintain this form when working. When removing the gangue, the internal drive of the gripper does not need to move, and only the robot movement is required to drive the gripper to achieve the prying function.

[0080] Fourth, the parallelogram linkage formed by the first, second, third, and fourth connecting rods 31, 32, 33, and 34 maintains a parallelogram shape during the grasping, releasing, and coordinated grasping processes. This invention utilizes the characteristic of a parallelogram linkage mechanism, ensuring that opposite sides remain parallel. By adjusting the angle of the first connecting rod 31 using the pneumatic cylinder 4, the fourth connecting rod 34 follows the corresponding adjustment. The servo motor 5 adjusts the angle of the second connecting rod 32 to position the fourth connecting rod 34 to achieve the desired function.

[0081] 5. The multifunctional gangue sorting robot gripper system of the present invention can be manufactured in different sizes, and different sizes correspond to the gangue that can be grasped within a certain size range:

[0082] 1. For medium and small pieces of gangue, the grabbing mode of the multifunctional gangue sorting robot's gripper system can be used.

[0083] 2. For large pieces of gangue, the multifunctional gangue sorting robot's gripper system can be used to remove them.

[0084] 3. Gangue and coal are distributed on the belt surface. When there are many coal lumps on the removal path, the gangue needs to be pushed from the belt surface to the edge to make it fall off the belt. If there are coal lumps blocking the gangue, the coal lumps may be pushed out of the belt when the gangue is pushed. In other words, if there are many coal lumps on the removal path, the gangue will be pushed out of the belt at the same time as the coal lumps are removed, resulting in coal waste. Therefore, if the collaborative holding mode is used to hold large gangue lumps, the gangue can be lifted and moved off the belt to avoid the above problems.

[0085] 6. Targeting applications with densely distributed coal and gangue, a gripper sorting function change control process has been developed to effectively improve gangue sorting efficiency and accuracy. This gripper sorting function change control is implemented based on information about gangue size and the distribution of surrounding coal and gangue, as determined by image recognition. To achieve efficient and accurate sorting, a suitable threshold is set for the amount of coal between the gangue and the belt edge. If the amount is below the threshold, the pull-away sorting function is used; if it is above the threshold, the grab or collaborative grab sorting function is used, effectively improving gangue sorting accuracy and efficiency.

[0086] See Figure 10 The specific steps of the hand gripper sorting function transformation control are as follows:

[0087] Step 1: Image recognition to obtain information on the size of the gangue and the distribution of surrounding coal and gangue;

[0088] Step 2: Determine whether the gangue is large gangue:

[0089] Step 3

[0090] The first case: when it is determined that the gangue is large gangue, it is determined whether the amount of coal between the gangue and the edge of the belt exceeds the set value. When it is determined that the amount of coal between the gangue and the edge of the belt exceeds the set value, the claws are transformed into a collaborative grasping form, and the two claws cooperate to realize the collaborative grasping and sorting function; when it is determined that the amount of coal between the gangue and the edge of the belt does not exceed the set value, the claws are transformed into a separating form, and the claws realize the separating and sorting function;

[0091] The second situation: when it is judged that the gangue is not large gangue, it is judged whether the amount of coal between the gangue and the edge of the belt exceeds the set value. When it is judged that the amount of coal between the gangue and the edge of the belt exceeds the set value, the claw is transformed into a grasping form, and the claw realizes the grasping and sorting function; when it is judged that the amount of coal between the gangue and the edge of the belt does not exceed the set value, the claw is transformed into a separating form, and the claw realizes the separating and sorting function.

[0092] The gangue sorting robot gripper system of the present invention can realize the functions of grasping, pulling away and collaborative holding, and can quickly switch between various functional states to adapt to the needs of actual application conditions on site, taking into account both sorting accuracy and sorting efficiency; the functional state transformation structure of the multi-link gripper is not only simple and practical, but also very reliable; the multi-link gripper occupies a small space, and when the gripper is lowered, the probability of colliding with gangue or coal blocks can be minimized; the dual robot gripper collaborative holding and sorting method provides a new idea for the sorting of large gangue.

[0093] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A multifunctional gangue sorting robot gripper system, characterized by: It comprises a connecting bracket (1), a base (2), a multi-link gripper (3), a cylinder (4), a servo motor (5) and a transmission mechanism (6); The connecting bracket (1) is connected to an external robot, the base (2) is mounted on the connecting bracket (1), the multi-link gripper (3) is connected to the base (2) via the transmission mechanism (6), the fixed end of the cylinder (4) is connected to the connecting bracket (1), the telescopic end of the cylinder (4) is connected to the multi-link gripper (3), the servo motor (5) is mounted on the base (2), and the output shaft of the servo motor (5) is connected to the transmission mechanism (6); The multi-link gripper (3) comprises four parallelogram linkage mechanisms; The connection between the two parallelogram linkage mechanisms located in the left and right directions is achieved through a first linkage connecting shaft (36) and a worm gear shaft (61) of the transmission mechanism (6); The parallelogram linkage mechanism comprises a first link (31), a second link (32), a third link (33) and a fourth link (34); the first link (31) and the fourth link (34) are arranged in parallel, and the second link (32) and the third link (33) are arranged in parallel; The first connecting rod (31) and the third connecting rod (33), the third connecting rod (33) and the fourth connecting rod (34), and the second connecting rod (32) and the fourth connecting rod (34) are all connected via a pin shaft (35); the first connecting rod (31) is connected to the worm gear shaft (61), and the first connecting rod (31) rotates around the worm gear shaft (61); the second connecting rod (32) is connected to the worm gear shaft (61), and the second connecting rod (32) rotates together with the worm gear shaft (61); The cylinder barrel end of the cylinder (4) is connected to the upper flange of the connecting bracket (1), and the piston rod end of the cylinder (4) is connected to the first connecting rod connecting shaft (36) of the multi-link hand claw (3).

2. The multifunctional gangue sorting robot gripper system according to claim 1 is characterized in that: The four parallelogram linkage mechanisms are distributed in a matrix. Among the four parallelogram linkage mechanisms, the two parallelogram linkage mechanisms located in the front-rear direction are set to be identical, and the two parallelogram linkage mechanisms located in the left-right direction are set to be symmetrical structures.

3. The multifunctional gangue sorting robot gripper system according to any one of claims 1-2, characterized in that: It also includes a motor mounting plate (7), the motor mounting plate (7) is mounted on the base (2), and the servo motor (5) is mounted on the motor mounting plate (7).

4. The multifunctional gangue sorting robot gripper system according to claim 3 is characterized by: The transmission mechanism (6) further includes a first sliding bearing (62), a worm wheel (64), a worm shaft (66), a second sliding bearing (67), a worm (68), and a third sliding bearing (610); The first sliding bearing (62) is fixed on the base (2), the worm shaft (61) passes through the first sliding bearing (62) and is connected to the base (2), the worm wheel (64) is connected to the worm shaft (61) and rotates with the worm shaft (61), the second sliding bearing (67) is fixed on the motor mounting plate (7), the third sliding bearing (610) is fixed on the base (2), the worm shaft (66) passes through the second sliding bearing (67), the third sliding bearing (610) is connected between the base (2) and the motor mounting plate (7), the worm (68) is connected to the worm shaft (66) and rotates with the worm shaft (66), and the worm wheel (64) and the worm (68) cooperate to realize worm gear transmission.

5. The multifunctional gangue sorting robot gripper system according to claim 4 is characterized in that: The transmission mechanism (6) further comprises a positioning ring (65), wherein the positioning ring (65) is fixed on the worm shaft (66) and is used to limit the axial movement of the worm wheel (64).

6. The multifunctional gangue sorting robot gripper system according to claim 4 is characterized in that: The transmission mechanism (6) further comprises a second shaft sleeve (69) and a third shaft sleeve (611), wherein the second shaft sleeve (69) and the third shaft sleeve (611) are inserted into the worm shaft (66) and used to limit the axial movement of the worm (68).

7. The multifunctional gangue sorting robot gripper system according to claim 4 is characterized by: The transmission mechanism (6) further includes a first shaft sleeve (63), which is sleeved on the worm shaft (61) and is used to limit the axial movement of the first connecting rod (31) and the second connecting rod (32).

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