Mechanical gripper structure for mining machinery

Abstract

The invention discloses a mechanical gripper structure for mining machinery, and belongs to the technical field of mechanical grippers. Comprising a connecting seat; the hydraulic cylinder is fixed on the connecting seat; the pushing seat is fixed on a piston rod of the hydraulic cylinder; the rotating seat is rotationally arranged on the pushing seat; the number of the fixed clamping jaws is two, and the two fixed clamping jaws are symmetrically fixed to the connecting base and the pushing base; the two sets of movable clamping jaws are arranged between the two sets of fixed clamping jaws, one sides of the movable clamping jaws are fixed to the rotating base, and the other sides of the movable clamping jaws are arranged on the connecting base in a sliding mode; the rotating mechanism is arranged in the pushing seat, is in transmission connection with the rotating seat and is used for driving the rotating seat to rotate; and the locking mechanism is arranged in the pushing seat and used for locking the pushing seat and the rotating seat, switching of two states of double claws and four claws is achieved, two mechanical claws do not need to be carried, function switching can be achieved without disassembly, the replacement time is shortened, and therefore the technical effect that the working efficiency of the mechanical claws is improved is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical claws, and more particularly to a mechanical claw structure for mining machinery. Background Art

[0002] The mechanical claw of mining machinery, also known as robot claw or manipulator claw, is an important component in mining machinery used to grasp, carry and process materials such as ore and rock. The four-claw mechanical claw and the double-claw mechanical claw (i.e. two-claw mechanical claw) are two common grasping tools in mining machinery. There are some differences in their structure, function and application scenarios.

[0003] When choosing a two-claw robot claw or a four-claw robot claw, you need to make a comprehensive consideration based on the specific application scenarios and needs. The two-claw robot claw is suitable for scenarios such as lightweight material handling and precise control in mining machinery. For example, in the screening and sorting of ore or the assembly of small parts or in critical handling such as steel pipes or water pipes, the two-claw robot claw can play the advantage of its precise control; the four-claw robot claw is suitable for scenarios that require stable grasping and carrying of heavy materials. In mining, the four-claw robot claw can be used to grab large pieces of ore, scrap iron and other heavy objects to ensure safety and efficiency in the production process.

[0004] However, the current two-claw mechanical claw and four-claw mechanical claw are two independent structures. When switching between them, the operator needs mechanical equipment to carry the two-claw mechanical claw and the four-claw mechanical claw, which increases the burden of carrying. At the same time, a lot of time will be wasted in the process of replacement and disassembly, reducing the working efficiency of the mechanical claw.

[0005] In view of this, we propose a mechanical claw structure for mining machinery. Summary of the invention

[0006] Technical issues to be solved

[0007] The purpose of the present invention is to provide a mechanical claw structure for mining machinery, which solves the technical problems in the above-mentioned background technology and realizes the switching between two states of double claws and four claws. There is no need to carry two mechanical claws, and the function can be switched without disassembly, which reduces the replacement time and thus improves the working efficiency of the mechanical claw.

[0008] 2. Technical solution

[0009] The technical solution of the present invention provides a mechanical claw structure for mining machinery, comprising:

[0010] Connecting seat;

[0011] A hydraulic cylinder is fixed on the connecting seat;

[0012] A push seat, fixed on the piston rod of the hydraulic cylinder;

[0013] A rotating seat, rotatably arranged on the pushing seat;

[0014] The fixed jaws are provided with two groups, and the two groups of fixed jaws are symmetrically fixed on the connecting seat and the pushing seat;

[0015] There are two sets of movable jaws, which are placed between the two sets of fixed jaws. One side of the movable jaw is fixed on the rotating seat, and the other side is slidably arranged on the connecting seat.

[0016] A rotating mechanism is arranged in the pushing seat, the rotating mechanism is transmission-connected with the rotating seat, and is used to drive the rotating seat to rotate;

[0017] A locking mechanism is arranged in the pushing seat, and is used to lock the pushing seat and the rotating seat;

[0018] The fixed clamping jaw and the movable clamping jaw can be adjusted to a first grasping state of double-claw grasping and a second grasping state of four-claw grasping.

[0019] As an optional solution of the technical solution of the document of the present invention, the connecting seat includes a round rod and two fixed support plates symmetrically fixed on the round rod and an annular guide rail coaxially fixed on the round rod.

[0020] As an optional solution of the technical solution of the document of the present invention, the fixed clamp includes a fixed claw, two first movable plates, a first connecting plate and two fixed ear plates. The two first movable plates are arranged in parallel, and the two ends are axially connected to the fixed claw and the fixed support plate respectively. The two fixed ear plates are symmetrically fixed on the pushing seat, one end of the first connecting plate is rotatably connected to the central axis of one of the first movable plates, and the other end is axially connected to the fixed ear plate.

[0021] As an optional solution of the technical solution of the document of the present invention, the movable clamp includes a movable claw and two second movable plates and two second connecting plates. The two second movable plates are arranged in parallel, one end of the second movable plate is rotatably connected to the movable claw shaft, and the other end is rotatably connected to the rotating seat shaft, one end of the second connecting plate is rotatably connected to the central axis of one of the second movable plates, and the other end is rotatably connected to the rotating seat shaft.

[0022] As an optional solution of the technical solution of the document of the present invention, the push seat includes two discs and a vertical pipe coaxially fixed between the two discs, the piston rod of the hydraulic cylinder is coaxially fixed to the disc at the lower end, the fixed ear plate is fixed on the two discs, the disc is provided with a notch, and the disc is provided with two guide holes;

[0023] The rotating seat includes an inner gear ring, two movable ear plates and two movable support plates. The inner diameter of the inner gear ring is adapted to the outer diameter of the vertical pipe. The inner gear ring is placed between two discs. The two movable ear plates are fixed on both sides of the outer wall of the inner gear ring. Two first grooves and two second grooves are radially provided on the inner side of the inner gear ring. The movable support plate is provided with a sliding groove adapted to the guide rail.

[0024] As an optional solution of the technical solution of the document of the present invention, the rotating mechanism includes a first servo motor and a small gear transmission connected to the first servo motor and a large gear meshing with the small gear, the large gear is rotatably arranged between the two disks, the large gear meshes with the inner gear ring, and is placed on one side of the notch.

[0025] As an optional solution of the technical solution of the present invention, the locking mechanism includes a second servo motor, a push rod, a push-pull plate and a clamping block. The second servo motor is fixed in the vertical tube, and the push rod is vertically fixed to the output shaft end of the second servo motor. Both ends of the push rod are axially rotatably connected to the push-pull plates, and the push-pull plates are axially rotatably connected to the clamping blocks. The clamping block is slidably inserted into the guide hole, and the clamping block is adapted to the first clamping slot and the second clamping slot.

[0026] As an optional solution to the technical solution of the document of the present invention, the disc at the lower end is fixed with a limiting rod, the push rod is against the limiting rod, the push rod is perpendicular to the push-pull plate, and the card block is disengaged from the first card slot or the second card slot.

[0027] As an optional solution of the technical solution of the document of the present invention, a guide rod is fixedly installed on the lower surface of the movable ear plate, the movable support plate is provided with a socket adapted to the guide rod, and the guide rod is coaxially arranged with the vertical pipe.

[0028] 3. Beneficial effects

[0029] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0030] 1. The present invention is provided with a pushing seat, a rotating seat, a fixed clamping claw, a movable clamping claw and a rotating mechanism. The rotating mechanism drives the rotating seat to rotate, and the rotating seat drives the two sets of movable clamping claws to rotate, so that the fixed clamping claw and the movable clamping claw can be switched between a four-claw grasping state and a two-claw grasping state. There is no need to carry two mechanical claws, and the function switching can be achieved without disassembly, which reduces the replacement time, thereby improving the working efficiency of the mechanical claw;

[0031] 2. The present invention provides a locking mechanism, which fixes the rotating seat and the pushing seat to prevent the movable clamping jaw from rotating, thereby improving the problem of loose clamping caused by deflection during the clamping operation of the movable clamping jaw. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1A schematic diagram of the overall four-claw grasping state structure of a mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention;

[0033] Figure 2 A mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention Figure 1 Schematic diagram of the structure from top view;

[0034] Figure 3 A schematic diagram of the overall double-claw grasping state structure of a mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention;

[0035] Figure 4 A mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention Figure 3 Schematic diagram of the structure from top view;

[0036] Figure 5 A mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention Figure 3 Schematic diagram of cross-section structure;

[0037] Figure 6 A mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention Figure 5 The enlarged structural diagram at A in the middle;

[0038] Figure 7 A mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention Figure 3 Schematic diagram of longitudinal structure;

[0039] Figure 8 A mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention Figure 7 The enlarged structural diagram at B in the middle;

[0040] Fig. 9 A schematic diagram of a driving seat and a fixed clamping claw structure of a mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention;

[0041] Fig.10 A mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention Fig. 9 Schematic diagram of the cutaway structure;

[0042] Fig.11 A mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention Fig.10 The enlarged structural diagram at C in the middle;

[0043] Fig.12 A schematic diagram of a movable clamping claw and a rotating seat structure of a mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention;

[0044] Fig.13 It is a schematic diagram of a cross-sectional structure of an inner gear ring of a mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention;

[0045] Fig.14 A schematic diagram of a movable support plate structure of a mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention;

[0046] Fig.15 A schematic diagram of a locking mechanism structure of a mechanical claw structure for mining machinery disclosed in a preferred embodiment of the present invention;

[0047] Description of the numbers in the figure:

[0048] 1. Connecting seat; 11. Guide rail; 12. Fixed support plate; 13. Round rod; 2. Fixed clamping jaw; 21. Fixed claw; 22. First movable plate; 23. First connecting plate; 24. Fixed ear plate; 3. Active clamping jaw; 31. Active claw; 32. Second movable plate; 33. Second connecting plate; 4. Pushing seat; 41. Disc; 42. Vertical pipe; 421. Notch; 422. Guide hole; 5. Rotating seat; 51. Internal gear ring; 511. First clamping groove; 512. Second clamping groove; 52. Active ear plate; 521. Guide rod; 53. Active support plate; 531. Socket; 532. Slide; 6. Rotating mechanism; 61. First servo motor; 62. Small gear; 63. Large gear; 7. Locking mechanism; 71. Second servo motor; 72. Push rod; 73. Push-pull plate; 74. Block; 75. Limit rod; 8. Hydraulic cylinder. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0050] A mechanical claw structure for mining machinery, comprising:

[0051] Connecting seat 1;

[0052] The hydraulic cylinder 8 is fixed on the connecting seat 1;

[0053] The push seat 4 is fixed on the piston rod of the hydraulic cylinder 8;

[0054] A rotating seat 5 is rotatably arranged on the pushing seat 4;

[0055] The fixed jaws 2 are provided with two groups, and the two groups of fixed jaws 2 are symmetrically fixed on the connecting seat 1 and the pushing seat 4;

[0056] The movable jaws 3 are provided in two groups and are placed between the two groups of fixed jaws 2. One side of the movable jaws 3 is fixed on the rotating seat 5, and the other side is slidably provided on the connecting seat 1;

[0057] The rotating mechanism 6 is arranged in the pushing seat 4, the rotating mechanism 6 is transmission-connected with the rotating seat 5, and is used to drive the rotating seat 5 to rotate;

[0058] A locking mechanism 7 is arranged in the pushing seat 4, and the locking mechanism 7 is used to lock the pushing seat 4 and the rotating seat 5;

[0059] The fixed clamping jaw 2 and the movable clamping jaw 3 can be adjusted to a first grasping state of double-claw grasping and a second grasping state of four-claw grasping.

[0060] Reference Figure 1 - Fig.15 The connecting seat 1 is used for fixed installation with mechanical equipment. The connecting seat 1 can be selected as long as it can be connected with mechanical equipment (lifting arm). The cylinder body of the hydraulic cylinder 8 is fixed on the connecting seat 1. The two sets of movable jaws 3 are arranged between the two sets of fixed jaws 2. The rotating mechanism 6 is driven in the positive direction and drives the rotating seat 5 to rotate. The rotating seat 5 drives the two sets of movable jaws 3 to rotate, and the two sets of movable jaws 3 are respectively attached between the two sets of fixed jaws 2. At this time, the two sets of movable jaws 3 and the two sets of fixed jaws 2 are in the first grasping state of double-claw grasping, and are locked by locking. The dead mechanism 7 fixes the rotating seat 5 and the pushing seat 4 to prevent the movable jaw 3 from rotating; when switching back to the second grasping state of four-claw grasping, the locking mechanism 7 is reset, the rotating mechanism 6 is driven in the reverse direction, and the rotating seat 5 is driven to reverse, and the movable jaw 3 rotates in the reverse direction around the axis of the hydraulic cylinder 8, and the two groups of movable jaws 3 and the two groups of fixed jaws 2 are distributed in a ring. At this time, the mechanical claw is in the four-claw grasping state. Finally, through the telescopic adjustment of the hydraulic cylinder 8, the distance between the pushing seat 4 and the connecting seat 1 is driven to adjust, and finally the movable jaw 3 and the fixed jaw 2 can grasp the material.

[0061] The connecting seat 1 comprises a round rod 13 , two fixed support plates 12 symmetrically fixed on the round rod 13 , and an annular guide rail 11 coaxially fixed on the round rod 13 .

[0062] Reference Figure 3 and Fig. 9 and Fig.10 A plurality of mounting holes are provided at the lower end of the round rod 13 so as to facilitate fixing with the robot arm through a bolt and nut group. At the same time, the cylinder body of the hydraulic cylinder 8 is fixed on the round rod 13, the piston rod passes through the round rod 13 and is coaxially arranged with the round rod 13, and the annular guide rail 11 is coaxially fixed on the round rod 13 so that the movable clamp 3 can rotate around the round rod 13 and the guide rail 11.

[0063] The fixed clamping jaw 2 includes a fixed jaw 21, two first movable plates 22, a first connecting plate 23 and two fixed ear plates 24. The two first movable plates 22 are arranged in parallel, and both ends are axially connected to the fixed jaw 21 and the fixed support plate 12 respectively. The two fixed ear plates 24 are symmetrically fixed on the pushing seat 4. One end of the first connecting plate 23 is axially connected to the central axis of one of the first movable plates 22, and the other end is axially connected to the fixed ear plate 24.

[0064] Reference Figure 5 and Fig. 9 The outer end of the first connecting plate 23 is axially connected to the inner first movable plate 22, and the end of the first connecting plate 23 away from the first movable plate 22 is axially connected to the fixed ear plate 24. The fixed ear plate 24 is fixed on the disc 41 of the pushing seat 4, and when the pushing seat 4 moves away from the round rod 13, the first connecting plate 23 tilts upward and pulls the lower end of the first movable plate 22 to tilt inward with the shaft of the fixed ear plate 24 as a fulcrum, so that the two fixed claws 21 move relative to each other. When the pushing seat 4 moves toward the round rod 13, the first connecting plate 23 tilts downward and pushes the lower end of the first movable plate 22 to tilt outward with the shaft of the fixed ear plate 24 as a fulcrum, thereby causing the outer ends of the two fixed claws 21 to expand outward to prepare for clamping materials.

[0065] The movable clamp 3 includes a movable claw 31, two second movable plates 32 and two second connecting plates 33. The two second movable plates 32 are arranged in parallel. One end of the second movable plate 32 is rotatably connected to the axis of the movable claw 31, and the other end is rotatably connected to the axis of the rotating seat 5. One end of the second connecting plate 33 is rotatably connected to the central axis of one of the second movable plates 32, and the other end is rotatably connected to the axis of the rotating seat 5.

[0066] Reference Fig.12 The lower end of the movable claw 31 is rotatably connected to one end of the two second movable plates 32 through the shaft, and the other end of the two second movable plates 32 is rotatably connected to the movable support plate 53 of the rotating seat 5 through the shaft, and one end of the second connecting plate 33 is connected to the central axis of the inner second movable plate 32. Therefore, when the movable clamping claw 3 is rotated, when the pushing seat 4 moves away from the round rod 13, the second connecting plate 33 is pulled upward by the movable ear plate 52, and the second connecting plate 33 will pull the lower end of the second movable plate 32 to tilt inward with the shaft of the movable support plate 53 as the fulcrum, thereby realizing the clamping action. When the pushing seat 4 moves close to the round rod 13, the second connecting plate 33 is pressed downward by the movable ear plate 52, and the second connecting plate 33 will push the second movable plate 32 to tilt outward with the shaft of the movable support plate 53 as the fulcrum, thereby causing the outer ends of the two movable claws 31 to expand outward.

[0067] The push seat 4 includes two discs 41 and a vertical pipe 42 coaxially fixed between the two discs 41. The piston rod of the hydraulic cylinder 8 is coaxially fixed to the lower disc 41. The fixed ear plate 24 is fixed on the two discs 41. The discs 41 are provided with notches 421. The discs 41 are provided with two guide holes 422.

[0068] The rotating seat 5 includes an inner gear ring 51, two movable ear plates 52 and two movable support plates 53. The inner diameter of the inner gear ring 51 is adapted to the outer diameter of the vertical pipe 42. The inner gear ring 51 is placed between the two discs 41. The two movable ear plates 52 are fixed on both sides of the outer wall of the inner gear ring 51. Two first grooves 511 and two second grooves 512 are radially opened on the inner side of the inner gear ring 51. The movable support plate 53 is provided with a slide groove 532 adapted to the guide rail 11.

[0069] Reference Figure 5 - Fig.14 The inner gear ring 51 is sleeved on the vertical pipe 42, and the axial ends are fitted on the opposite sides of the two discs 41 to avoid axial movement of the inner gear ring 51. The fixed ear plate 24 is fixed on the disc 41 to position the fixed ear plate 24. The movable ear plate 52 is fixed on the outer surface of the inner gear ring 51, so that the movable ear plate 52 can rotate with the inner gear ring 51. At the same time, when the inner gear ring 51 rotates, the movable ear plate 52 can drive the slide groove 532 of the movable support plate 53 to rotate along the guide rail 11 through the second connecting plate 33, the second movable plate 32 and the movable claw 31. The lower end of the second movable plate 32 is rotatably set on the movable support plate 53 through the shaft rod, and the inner side end of the second connecting plate 33 is rotatably set on the movable ear plate 52 through the shaft rod. The first clamping groove 511 and the second clamping groove 512 are vertically arranged.

[0070] The rotating mechanism 6 includes a first servo motor 61 , a pinion 62 drivingly connected to the first servo motor 61 , and a large gear 63 meshing with the pinion 62 . The large gear 63 is rotatably disposed between the two disks 41 , meshing with the inner gear ring 51 , and disposed on one side of the notch 421 .

[0071] Reference Figure 6 and Fig.11The output shaft of the first servo motor 61 is coaxially fixed with the pinion gear 62. The first servo motor 61 is fixed on the lower end disc 41 and placed in the standpipe 42. The large gear 63 is set between the two discs 41 through the rotation of the shaft rod and is coaxially set with the disc 41. The pinion gear 62 flange is meshed with the large gear 63, so that the rotation of the inner gear ring 51 is more labor-saving through the cooperation of the pinion gear 62 and the large gear 63. Through the forward and reverse rotation of the first servo motor 61, and through the meshing transmission of the pinion gear 62 and the large gear 63, the transmission of the large gear 63 and the inner gear ring 51, the inner gear ring 51 rotates around the standpipe 42, and the large gear 63 and the inner gear ring 51 are placed on one side of the notch 421 to facilitate the meshing of the large gear 63 and the inner gear ring 51.

[0072] The locking mechanism 7 includes a second servo motor 71, a push rod 72, a push-pull plate 73 and a clamping block 74. The second servo motor 71 is fixed in the vertical pipe 42. The push rod 72 is vertically fixed to the output shaft end of the second servo motor 71. Both ends of the push rod 72 are axially connected to the push-pull plate 73. The push-pull plate 73 is axially connected to the clamping block 74. The clamping block 74 is slidably inserted into the guide hole 422, and the clamping block 74 is adapted to the first clamping slot 511 and the second clamping slot 512.

[0073] Reference Figure 6 , Fig.11 , Fig.13 and Fig.15 The push rod 72 and the push-pull plate 73, and the push-pull plate 73 and the block 74 are all rotatably connected by the shaft rod, and the shaft rod is arranged parallel to the output shaft of the second servo motor 71, and the block 74 is slidably inserted in the guide hole 422, and when the two push-pull plates 73 and the two blocks 74 are parallel and perpendicular to the push rod 72, the block 74 is placed in the guide hole 422 and disengaged from the first slot 511 or the second slot 512. At this time, the inner gear ring 51 can rotate. When the second servo motor 71 drives the push rod 72 to rotate clockwise, the push rod 72 pushes the push-pull plate 73, and the push-pull plate 73 pushes the block 74 to be inserted into the corresponding first slot 511 or the second slot 512. At this time, the inner gear ring 51 can be prevented from rotating. When the output shaft of the second servo motor 71 rotates counterclockwise, the push rod 72 pulls the push-pull plate 73, and the push-pull plate 73 pulls the block 74 out of the first slot 511 and the second slot 512. It is worth noting that when the contact surface of the movable ear plate 52 and the fixed ear plate 24 are against each other, that is, in a parallel state, the block 74 corresponds to the first slot 511, and when the movable ear plate 52 and the edge of the fixed ear plate 24 are against each other, that is, the fixed ear plate 24 and the movable ear plate 52 are in a vertical state, the block 74 corresponds to the second slot 512. At the same time, the opening ends of the first slot 511 and the second slot 512 are trumpet-mouth structures to facilitate the insertion of the block 74 into the first slot 511 or the second slot 512.

[0074] The lower end disc 41 is fixed with a limiting rod 75 , the push rod 72 abuts against the limiting rod 75 , the push rod 72 is perpendicular to the push-pull plate 73 , and the clamping block 74 is separated from the first clamping slot 511 or the second clamping slot 512 .

[0075] Reference Figure 6 A limiting rod 75 fixed between the two disks 41 is provided on the right side of the push rod 72. When the push rod 72 abuts against the limiting rod 75, the push rod 72 and the push-pull plate 73 are in a vertical state. At the same time, the block 74 is placed in the guide hole 422, and the first slot 511 or the second slot 512 is detached, so as to limit the push rod 72.

[0076] A guide rod 521 is fixedly mounted on the lower surface of the movable ear plate 52 , and a plug hole 531 adapted to the guide rod 521 is provided on the movable support plate 53 . The guide rod 521 is coaxially arranged with the vertical pipe 42 .

[0077] Reference Fig.12 - Fig.14 The guide rod 521 is fixed on the lower surface of the movable ear plate 52 and slidably inserted into the socket 531, and can be raised and lowered following the push seat 4. During the rotation of the movable ear plate 52, the movable support plate 53 is driven to rotate and adjust synchronously through multiple guide rods 521.

[0078] Working principle: Figure 3 Take the double claw grasping state in the example as an example, when you need to switch to Figure 1When the four-claw grasping state is in the middle, the first servo motor 61 is energized at this time, and the output shaft rotates clockwise, the small gear 62 rotates clockwise, and drives the large gear 63 to rotate counterclockwise, and the large gear 63 drives the inner gear ring 51 to rotate counterclockwise with the vertical tube 42 as the axis, and the inner gear ring 51 drives the movable ear plate 52 to rotate counterclockwise, and the movable ear plate 52 drives the movable support plate 53 to rotate counterclockwise along the guide rail 11 through the guide rod 521, and when the movable ear plate 52 abuts against the edge of the fixed ear plate 24, the second servo motor 71 drives the push rod 72 to rotate clockwise, and the push rod 72 pushes the push-pull plate 73, and the push-pull plate 73 pushes the card block 74 to be stuck in the corresponding first card slot 511, so that the inner gear ring 51 can be fixed to the vertical tube 42, avoiding the inner gear ring 5 1 rotates, when clamping the pipe fitting, the piston rod of the hydraulic cylinder 8 contracts inward, the disc 41 moves close to the round rod 13, the first connecting plate 23 and the second connecting plate 33 tilt downward, and push the first movable plate 22 and the second movable plate 32 to tilt outward respectively, at this time, the fixed claws 21 and the movable claws 31 expand outward and are larger than the outer diameter of the pipe, and the pipe is placed between the two sets of fixed claws 21 and movable claws 31, then the piston rod of the hydraulic cylinder 8 extends outward, the piston rod pushes the disc 41 to move away from the round rod 13, and pulls the first movable plate 22 and the second movable plate 32 to tilt inward, and pulls the first movable plate 22 and the second movable plate 32 to tilt inward respectively, at this time, the two fixed claws 21 and the two movable claws 31 move relative to each other to clamp the pipe fitting;

[0079] When the two-claw grasping state is switched back to the four-claw grasping state, the second servo motor 71 drives the push rod 72 to rotate counterclockwise, so that the push rod 72 is against the limit rod 75, and the block 74 is disengaged from the first slot 511. At this time, the first servo motor 61 is energized and the output shaft rotates counterclockwise, and the large gear 63 drives the inner gear ring 51 to rotate clockwise until the surface of the movable ear plate 52 and the fixed ear plate 24 are in contact. At this time, the block 74 corresponds to the first slot 511, and the second servo motor 71 drives the push rod 72 to rotate clockwise and makes the block 74 snap into the first slot 511. Then repeat the above clamping action to realize the four-claw grasping of materials.

[0080] Those skilled in the art should understand that the discussion of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0081] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mechanical claw structure for mining machinery, characterized in that: include: Connecting seat (1); A hydraulic cylinder (8) is fixed on the connecting seat (1); A push seat (4) is fixed on the piston rod of the hydraulic cylinder (8); A rotating seat (5) is rotatably arranged on the pushing seat (4); The fixed clamping jaws (2) are provided in two groups, and the two groups of fixed clamping jaws (2) are symmetrically fixed on the connecting seat (1) and the pushing seat (4); The movable clamping jaws (3) are provided in two groups and are placed between the two groups of fixed clamping jaws (2); one side of the movable clamping jaws (3) is fixed on the rotating seat (5), and the other side is slidably provided on the connecting seat (1); A rotating mechanism (6) is arranged in the pushing seat (4), the rotating mechanism (6) is in driving connection with the rotating seat (5) and is used to drive the rotating seat (5) to rotate; A locking mechanism (7) is arranged in the pushing seat (4), and the locking mechanism (7) is used to lock the pushing seat (4) and the rotating seat (5); The fixed clamping jaw (2) and the movable clamping jaw (3) can be adjusted to a first grasping state of double-claw grasping and a second grasping state of four-claw grasping.

2. A mechanical claw structure for mining machinery according to claim 1, characterized in that: The connecting seat (1) comprises a round rod (13), two fixed support plates (12) symmetrically fixed on the round rod (13), and an annular guide rail (11) coaxially fixed on the round rod (13).

3. A mechanical claw structure for mining machinery according to claim 2, characterized in that: The fixed clamping jaw (2) comprises a fixed jaw (21), two first movable plates (22), a first connecting plate (23) and two fixed ear plates (24); the two first movable plates (22) are arranged in parallel, and both ends are axially connected to the fixed jaw (21) and the fixed support plate (12); the two fixed ear plates (24) are symmetrically fixed to the pushing seat (4); one end of the first connecting plate (23) is axially connected to the central axis of one of the first movable plates (22), and the other end is axially connected to the fixed ear plate (24).

4. The mechanical claw structure for mining machinery according to claim 1, characterized in that: The movable clamping jaw (3) comprises a movable jaw (31), two second movable plates (32) and two second connecting plates (33). The two second movable plates (32) are arranged in parallel. One end of the second movable plate (32) is rotatably connected to the axis of the movable jaw (31), and the other end is rotatably connected to the axis of the rotating seat (5). One end of the second connecting plate (33) is rotatably connected to the central axis of one of the second movable plates (32), and the other end is rotatably connected to the axis of the rotating seat (5).

5. The mechanical claw structure for mining machinery according to claim 3, characterized in that: The pushing seat (4) comprises two discs (41) and a vertical pipe (42) coaxially fixed between the two discs (41); the piston rod of the hydraulic cylinder (8) is coaxially fixed to the disc (41) at the lower end; the fixing ear plate (24) is fixed on the two discs (41); the disc (41) is provided with a notch (421); and the disc (41) is provided with two guide holes (422); The rotating seat (5) comprises an inner gear ring (51), two movable ear plates (52) and two movable support plates (53); the inner diameter of the inner gear ring (51) is adapted to the outer diameter of the stand pipe (42); the inner gear ring (51) is placed between the two discs (41); the two movable ear plates (52) are fixed on both sides of the outer wall of the inner gear ring (51); two first grooves (511) and two second grooves (512) are radially provided on the inner side of the inner gear ring (51); and the movable support plate (53) is provided with a slide groove (532) adapted to the guide rail (11).

6. The mechanical claw structure for mining machinery according to claim 5, characterized in that: The rotating mechanism (6) comprises a first servo motor (61), a small gear (62) drivingly connected to the first servo motor (61), and a large gear (63) meshing with the small gear (62); the large gear (63) is rotatably arranged between the two disks (41); the large gear (63) meshes with the inner gear ring (51) and is placed on one side of the notch (421).

7. The mechanical claw structure for mining machinery according to claim 5, characterized in that: The locking mechanism (7) comprises a second servo motor (71), a push rod (72), a push-pull plate (73) and a clamping block (74); the second servo motor (71) is fixed in the vertical pipe (42); the push rod (72) is vertically fixed to the output shaft end of the second servo motor (71); both ends of the push rod (72) are rotatably connected to the push-pull plate (73); the push-pull plate (73) is rotatably connected to the clamping block (74); the clamping block (74) is slidably inserted into the guide hole (422); and the clamping block (74) is adapted to the first clamping slot (511) and the second clamping slot (512).

8. The mechanical claw structure for mining machinery according to claim 7, characterized in that: The disc (41) at the lower end is fixed with a limiting rod (75), the push rod (72) abuts against the limiting rod (75), the push rod (72) is perpendicular to the push-pull plate (73), and the clamping block (74) is separated from the first clamping slot (511) or the second clamping slot (512).

9. The mechanical claw structure for mining machinery according to claim 5, characterized in that: A guide rod (521) is fixedly mounted on the lower surface of the movable ear plate (52), and a plug hole (531) adapted to the guide rod (521) is provided on the movable support plate (53), and the guide rod (521) is coaxially arranged with the stand pipe (42).

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