A mining handling robot

Abstract

The present invention discloses a mining handling robot, which specifically relates to the field of logistics and transportation technology, and comprises a frame structure, a clamping structure and a connecting structure for connecting the frame structure and the clamping structure. The frame structure comprises a bearing part for bearing materials, a positioning part for assisting in the position correction of the materials and a shock absorbing part for buffering the movement speed of the materials. The clamping structure is hoisted on the surface of the connecting structure. The clamping structure comprises a lifting part, a hanging part, a clamping part and a positioning pin. Deformed semicircular silicone balls and telescopic silicone balls are arranged for clamping materials, thereby increasing the friction and contact of the clamped materials, ensuring the stability of the materials during the handling process, improving the application scope of the handling robot, increasing the utilization rate and use rate of the handling robot for different materials, and at the same time, for materials with irregular shapes, there is no need to replace the grasping mechanism matched therewith, thereby simplifying the structural equipment of the handling robot and reducing the equipment cost of the handling robot.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics and transportation, and more specifically, to a mining transport robot. Background Art

[0002] In the traditional material mining process, material handling is usually done manually or with simple mechanical devices. In harsh material environments, workers face serious health and safety risks. With the advancement of science and technology and the development of industrial automation, mining handling robots have become an important tool for improving material handling efficiency and ensuring the safety of miners. Mining handling robots are automated mechanical equipment specially designed for material handling in underground mining environments. They can replace manual labor in narrow, low, dusty, humid environments where harmful gases may exist. This type of robot replaces human labor to complete long-term, high-intensity repetitive labor in various complex conditions and harsh environments.

[0003] A Chinese patent with authorization announcement number CN211594227U discloses a handling robot, including a rotating base, a driving arm seat located on the rotating base, an arm installed on the driving arm seat, and a clamping mechanism arranged at the end of the arm, wherein the clamping mechanism includes a rotating plate and a pair of clamping assemblies arranged at both ends of the rotating plate, the rotating plate is connected to the end of the arm, and the clamping hand includes a clamping plate and a pair of mirror-symmetrical clamping blocks arranged at the ends of the clamping plate, and the surface of the clamping block is provided with a plurality of grooves recessed inward from the surface thereof. When the surface of the product to be handled has a plurality of grooves and corresponding protruding portions, the grooves are matched with the protruding portions on the surface of the product to ensure the stability of the product during the clamping and handling process. In the above process, it is difficult to make the protrusions of different materials consistent, and it is difficult to ensure that the protrusions of the materials match the grooves. Secondly, if the grooves and protrusions are to be matched, it takes a certain amount of positioning time, which is time-consuming and labor-intensive. In addition, if the surface of the ball material has no protrusions and the contact surface is small, it is difficult to ensure the stability and safety during the handling process.

[0004] To this end, the present invention proposes a mining transport robot to solve the above problems. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a mining handling robot, which increases the friction and contact of the clamped materials by arranging deformed semicircular silicone balls and telescopic silicone balls to ensure the stability of the materials during the handling process, and improves the application scope of the handling robot to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: A mining handling robot, comprising: a frame structure, a clamping structure, and a connecting structure for connecting the frame structure and the clamping structure;

[0007] The frame structure has a bearing part for bearing materials, a positioning part for correcting the position of materials, and a shock-absorbing part for buffering the movement speed of materials. The clamping structure is hoisted on the surface of the connection structure. The clamping structure includes a lifting part, a hanging part, a clamping part, and a positioning pin, wherein the lifting part is fixedly connected to the inner circumference of the hanging part, and the clamping part is rotatably connected to the bottom end of the hanging part through the positioning pin. The lifting part is meshed with the clamping part and the lifting part is in telescopic motion up and down. The lifting part in telescopic motion up and down squeezes the clamping part to rotate and push the material to move, position, and clamp the material;

[0008] Among them, the clamping part includes a clamping plate for clamping materials, and a plurality of telescopic silicone balls are glued to the end surface of the clamping plate and a plurality of semicircular silicone balls are fixedly connected. The plurality of semicircular silicone balls are interspersed between the plurality of telescopic silicone balls, and the end surfaces of the plurality of semicircular silicone balls and the plurality of telescopic silicone balls after being compressed and deformed are flush.

[0009] Preferably, the lifting part comprises a group of hydraulic cylinders, a positioning plate is fixed on the end surface of the hydraulic cylinder, the output shaft of the hydraulic cylinder passes through the positioning plate, and the free end of the hydraulic cylinder is fixedly connected with four groups of spur gears.

[0010] Preferably, the suspension part includes a group of annular sleeve plates, the lifting part is fixed to the inner circumferential surface of the annular sleeve plates through positioning plates, four groups of straight plates perpendicular to the annular sleeve plates are extended from the outer circumferential surface, and a circular mounting groove for mounting a positioning pin is provided at the bottom end of the straight plate.

[0011] Preferably, the clamping portion includes a special-shaped gear, an extension plate and a vertical plate, the extension plate is two discontinuous vertical plates, a group of shock-absorbing parts 2 are fixedly connected between the two groups of discontinuous vertical plates, the vertical plate at the upper end is connected to the special-shaped gear as a whole, and the vertical plate at the lower end is connected to the vertical plate as a whole, wherein the vertical plate and the extension plate are parallel.

[0012] Preferably, the number of the vertical plates is two groups, and the two groups of parallel vertical plates are fixedly connected by a second shock absorbing member;

[0013] The number of the shock absorbing components 2 is two groups, and the two groups of the shock absorbing components 2 are perpendicular to each other. The shock absorbing components 2 include a telescopic rod and a small spring, and the small spring is spirally attached to the periphery of the telescopic rod.

[0014] Preferably, the semicircular silicone ball and the telescopic silicone ball are fixed on a set of vertical plate end faces away from the extension plate, and the positions of the telescopic silicone ball and the second shock absorbing member are staggered;

[0015] The telescopic silicone ball comprises a threaded tube and an elliptical airbag. The inner cavities of the threaded tube and the elliptical airbag are connected through a hollow tube. The hollow tube penetrates the vertical plate and is fixed to the vertical plate.

[0016] Preferably, two hidden circular grooves are provided at the bottom end of another group of vertical plates, and rolling members are telescopically arranged inside the hidden circular grooves. The rolling members include an elastic telescopic rod vertically inserted into the vertical plate and an arc-shaped plate fixed to the bottom end of the elastic telescopic rod. The plate body of the arc-shaped plate is horizontally bent at both ends of the bottom end, and a plurality of balls distributed in an array are rollingly installed on the outer surface of the arc-shaped plate.

[0017] Preferably, the bearing portion comprises a bearing plate fixed to a plane and a movable support plate horizontally stacked on the surface of the bearing plate;

[0018] The positioning part includes a rotating part rotating inside a carrying plate, a rotating plate rotating on the surface of a movable support plate, and an auxiliary plate fixed on the surface of the movable support plate, wherein the end of the rotating part is bent, inserted into the movable support plate and fixed thereto, and the rotation of the rotating part causes the movable support plate to rotate around the central axis of the rotating part.

[0019] The shock absorbing part includes a shock absorbing member 1 fixed to the end of the movable support plate and an anti-slip strip fixed to the shock absorbing member 1 and the surface of the movable support plate.

[0020] Preferably, a group of driving parts are provided on the surface of the supporting plate, and the driving parts include a fixing plate fixed to the back of the supporting plate, a motor fixed to the surface of the fixing plate, and a circular gear connected to the end of the motor output shaft. A group of ring gears are meshed on the surface of the circular gears, and the ring gears are sleeved on the surface of the rotating part. The motor drives the rotating part to rotate via the ring gears.

[0021] Preferably, a group of positioning rods are fixed at the end of the bearing plate, and the connecting structure is fixed to the frame structure through the positioning rods;

[0022] A magnet part is clamped inside the frame structure, and the magnet part includes a square magnet and a circular magnet that attract each other. The square magnet is clamped inside the bearing plate, and the circular magnet is clamped inside the rotating plate.

[0023] Technical effects and advantages of the present invention:

[0024] 1. This device is used to clamp materials by setting deformed semicircular silicone balls and telescopic silicone balls to increase the contact area of ​​the clamped materials and the friction of the clamped materials for materials with irregular shapes or spherical objects, thereby ensuring the stability of the materials during the handling process. The applicable scope of the handling robot is wider, and the utilization rate and use rate of the handling robot for different materials are increased. At the same time, for materials with irregular shapes, there is no need to replace the matching grasping mechanism, which simplifies the structural equipment of the handling robot and reduces the equipment cost of the handling robot.

[0025] 2. The device is provided with a rolling member at the bottom end of the vertical plate. The rolling member includes an elastic telescopic rod and an arc plate. The surface of the arc plate is arranged in an arc shape and contacts the surface of the frame structure at multiple angles. At the same time, multiple balls are installed on the surface of the arc plate in a rolling manner to reduce the friction between the clamping structure and the frame structure. The shock absorbing member 2 and the elastic telescopic rod are squeezed and contracted to reduce the clamping center, so as to clamp materials of different volumes and expand the applicable scope of the handling robot;

[0026] 3. This device is provided with two sets of vertical shock absorbing parts 2, which are respectively in the vertical and horizontal directions, to reduce the vibration in the vertical and horizontal directions. Through the resonance between the shock absorbing parts 2 and the equipment, the vertical plate and the object are always in a close fit state. Secondly, the reaction force generated by the contraction of the shock absorbing parts 2 is transmitted to the material, so that the material is firmly clamped, the firmness of the handling machine is increased, and the safety of the material during the handling process is improved;

[0027] 4. This device reduces the requirements for the positioning of the material to be grasped by adopting an opening and closing clamping method. The grasping action can be achieved by only keeping the material within the clamping range of the robot. The material can be pushed to the precise position again through the synchronization and displacement of the opening and closing grasping action, completing the auxiliary action and realizing the self-positioning function of the material;

[0028] 5. This device is provided with a frame structure having a carrying part for carrying materials, a positioning part for assisting in the position of materials, and a shock-absorbing part for buffering the movement speed of materials. The positioning part realizes the positioning of materials through rotational actions in different dimensions, and assists in aligning the materials to the center of the frame structure or within the grasping range of the clamping structure. There is no need to install positioning equipment, and the range of materials to be grasped can be limited. The self-positioning movement is achieved through the material's own gravity, which simplifies the process, has strong operability, and improves the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic plan view of the overall structure of the handling robot of the present invention.

[0030] Figure 2 It is a three-dimensional schematic diagram of the overall structure of the clamping structure of the present invention.

[0031] Figure 3 It is a three-dimensional disassembled diagram of the overall structure of the clamping structure of the present invention.

[0032] Figure 4 It is a schematic diagram of the overall structure of the lifting part in the clamping structure of the present invention.

[0033] Figure 5 It is a schematic diagram of the overall structure of the clamping part in the clamping structure of the present invention.

[0034] Figure 6 For the present invention Figure 5 A-section structure enlarged view.

[0035] Figure 7 This is a cross-sectional view of the overall structure of the telescopic silicone ball of the present invention.

[0036] Figure 8 It is a three-dimensional exploded view of the clamping structure part of the present invention.

[0037] Fig. 9 The local structure of the clamping structure of the present invention is disassembled Figure 1 .

[0038] Fig.10 The local structure of the clamping structure of the present invention is disassembled Figure 2 .

[0039] Fig.11 It is a three-dimensional schematic diagram of the overall structure of the frame structure of the present invention.

[0040] Fig.12 It is a three-dimensional schematic diagram of the local structure of the frame structure of the present invention.

[0041] Attached figures: 1. frame structure; 11. load-bearing plate; 12. positioning rod; 13. movable support plate; 14. rotating member; 15. rotating plate; 16. magnet member; 17. auxiliary plate; 18. shock-absorbing member 1; 19. driving part; 2. connecting structure; 3. clamping structure; 31. lifting part; 311. hydraulic cylinder; 312. positioning plate; 313. straight gear; 32. hanging part; 33. clamping part; 331. special-shaped gear; 332. extension plate; 333. shock-absorbing member 2; 334. vertical plate; 335. semicircular silicone ball; 336. telescopic silicone ball; 337. rolling member; 338. hidden circular groove; 34. positioning pin. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 creative work are within the scope of protection of the present invention.

[0043] Embodiment 1

[0044] Refer to the instruction manual Figure 1-Figure 9 As shown: a mining handling robot comprises: a frame structure 1, a clamping structure 3 and a connecting structure 2 for connecting the frame structure 1 and the clamping structure 3, the connecting structure 2 is only used for fixing, and can be designed as a multi-rod connection or a multi-plate connection, the vertical center line of the clamping structure 3 and the frame structure 1 coincide with each other; the frame structure 1 has a bearing part for bearing materials, a positioning part for assisting the position of the materials, and a shock absorbing part for buffering the movement speed of the materials, the bearing part is used to bear the materials transmitted to the specified position by the conveyor belt, the positioning part realizes the material position positioning through the rotation action of different dimensions, and assists the materials to the center of the frame structure 1 or the grasping range of the clamping structure 3, and the shock absorbing part is used to reduce Slow down the material sliding speed and avoid the impact between the material and the load-bearing part, increase the safety of material transportation; the clamping structure 3 is vertically hoisted on the surface of the connecting structure 2, and the clamping structure 3 includes a lifting part 31, a hanging part 32, a clamping part 33 and a positioning pin 34, wherein the lifting part 31 is fixedly connected to the inner circumference of the hanging part 32, and the clamping part 33 is rotatably connected to the bottom end of the hanging part 32 through the positioning pin 34, and the movement trajectory of the clamping part 33 is an arc, and the center of the arc is located at the center of the positioning pin 34, and the lifting part 31 is meshed with the clamping part 33 and the lifting part 31 is telescopically movable up and down, and the lifting part 31 in telescopic motion squeezes the clamping part 33 to rotate and pushes the material to move, position and clamp the material;

[0045] Specifically, the lifting part 31 includes a group of hydraulic cylinders 311, and a positioning plate 312 is fixed on the end surface of the hydraulic cylinder 311. The positioning plate 312 is fixed to the surface of the hanging part 32, that is, the positions of the hydraulic cylinder 311, the hanging part 32, the connecting structure 2 and the frame structure 1 are relatively fixed. The output shaft of the hydraulic cylinder 311 passes through the positioning plate 312, and the free end of the hydraulic cylinder 311 is fixedly connected to four groups of straight gears 313, and the four groups of straight gears 313 are distributed in a circle with equal spacing; the hanging part 32 includes a group of annular sleeve plates, and the lifting part 31 is fixed to the inner circumference of the annular sleeve plate through the positioning plate 312. Four groups of straight plates perpendicular to the annular sleeve plate are extended from the outer circumference of the annular sleeve plate, and a straight plate for The circular mounting groove for installing the positioning pin 34, that is, the positioning pin 34 can fix the hanging part 32 on the surface of the clamping part 33 and the relative position remains unchanged. When the output shaft end of the hydraulic cylinder 311 reciprocates in a straight line, the four groups of clamping parts 33 distributed at equal intervals are longitudinally rotated together or rotated and expanded; the clamping part 33 includes a special-shaped gear 331, an extension plate 332 and a vertical plate 334, the extension plate 332 is two discontinuous vertical plates, and a group of shock absorbing parts 333 is fixedly connected between the two groups of discontinuous vertical plates, the vertical plate at the upper end is connected to the special-shaped gear 331 as a whole, and the vertical plate at the lower end is connected to the vertical plate 334 as a whole, wherein the vertical plate 334 is parallel to the extension plate 332;

[0046] When the output shaft end of the special-shaped gear 331 drives the four groups of equally spaced clamping parts 33 to rotate longitudinally, the straight gear 313 moves following the rotation of the clamping part 33, and in this process meshes with the special-shaped gear 331. The special-shaped gear 331 rotates under force, and the motion trajectory generated by the rotation is a circular arc. The center of the circular arc is located on the center line of the circular mounting groove. The clamping part 33 drives the clamping plate to rotate synchronously during the rotation process. The clamping part 33 clamps the material in four directions and positions it to realize the clamping and carrying function. In this device, the base of the carrying robot has the functions of telescopic movement and tracking walking. Its tracking walking function refers to the walking principle of the AGV trolley: the control target of the AGV trolley is to detect the relative position of the reference point and the virtual point, and correct the rotation speed of the driving wheel to change the travel direction of the AGV. The telescopic movement and tracking walking base are existing technologies and will not be elaborated on here.

[0047] The opening and closing clamping method has low requirements for material positioning. It only needs to keep the material within the clamping range of the robot to achieve the grasping action. The principle is: when the material is not in the center of the clamping position, the four special-shaped gears 331 move toward the material synchronously, and the displacement distance is consistent. The material that is not in the center of the clamping position is displaced toward the center of the clamping position when it is pushed by the special-shaped gears 331 until it moves to the center of the clamping position, that is, it is pushed from four directions by four groups of equally spaced clamping parts 33, thereby achieving self-positioning of the material.

[0048] There are two groups of vertical plates 334, and the two groups of parallel vertical plates 334 are fixedly connected by the second shock absorber 333; there are two groups of second shock absorbers 333, and the two groups of second shock absorbers 333 are perpendicular to each other. The second shock absorber 333 includes a telescopic rod and a small spring, and the small spring is spirally attached to the periphery of the telescopic rod; in the process of transporting materials, road bumps, equipment operation vibrations and other reasons will cause the transport robot to be in uninterrupted vibration, and the materials transported by the transport robot are also in uninterrupted vibration. Under the transmission of vibration, the downward movement trend of the materials becomes more serious, which may cause the transport robot to be unable to clamp the materials, thereby reducing the safety of the materials in the process of transporting;

[0049] Among them, two groups of vertical shock absorbing members 333 are provided, and the two groups of shock absorbing members 333 are respectively in the vertical and horizontal directions to reduce the vibration in the vertical and horizontal directions. Through the resonance mode of the shock absorbing members 333 and the equipment, the vertical plate 334 and the object are always in a close fit state. Secondly, the reaction force generated by the contraction of the shock absorbing members 333 is transmitted to the material, so that the material is firmly clamped, the firmness of the handling machine's grasping is increased, and the safety of the material during the handling process is improved;

[0050] The semicircular silicone balls 335 and the telescopic silicone balls 336 are fixed on the end faces of a group of vertical plates 334 away from the extension plate 332. There are multiple groups of shock absorbing members 333 located between the two groups of vertical plates 334. The multiple groups of shock absorbing members 333 are arranged in an array. There are multiple groups of semicircular silicone balls 335 and telescopic silicone balls 336. The positions of the telescopic silicone balls 336 and the shock absorbing members 333 are staggered. Multiple semicircular silicone balls 335 are inserted between multiple telescopic silicone balls 336. The telescopic silicone balls 336 include a threaded tube and an elliptical airbag. The inner cavities of the threaded tube and the elliptical airbag are connected through a hollow tube. The hollow tube passes through the vertical plate 334 and is connected to the vertical plate 334. The clamping portion 33 includes a clamping plate for clamping materials, and a plurality of telescopic silicone balls 336 are glued to the end surface of the clamping plate and a plurality of semicircular silicone balls 335 are fixedly connected. The plurality of semicircular silicone balls 335 are inserted between the plurality of telescopic silicone balls 336. The end surfaces of the plurality of semicircular silicone balls 335 and the plurality of telescopic silicone balls 336 after being compressed and deformed are flush. If the semicircular silicone balls 335 and the telescopic silicone balls 336 are compressed, the degree of deformation tends to the maximum value, and the side of the semicircular silicone balls 335 and the telescopic silicone balls 336 away from the clamping portion 33 is deformed from a convex arc to a horizontal end surface, that is, the horizontal planes of the semicircular silicone balls 335 and the telescopic silicone balls 336 are at the same distance from the end of the vertical plate 334;

[0051] When the surface of the material is rectangular, the clamping surface of the material is flat. When the semicircular silicone ball 335 and the telescopic silicone ball 336 are squeezed by the surface of the material, multiple elliptical airbags are compressed and deformed, and the air in the inner cavity of the elliptical airbag enters the threaded tube through the hollow tube, the threaded tube is deformed, and the telescopic silicone ball 336 is squeezed by the material and flattened. The deformed semicircular silicone ball 335 is flush with the surface of the elliptical airbag and clamps the material together. At the same time, the semicircular silicone ball 335 and the telescopic silicone ball 336 are made of silicone material, which increases the material and the semicircular silicone ball 335 and the telescopic silicone The friction between the balls 336 increases the firmness of the handling robot during the gripping process; secondly, for materials with irregular surfaces, such as spheres, the spherical objects give different degrees of squeezing between the multiple semicircular silicone balls 335 and the multiple telescopic silicone balls 336, and thus different degrees of deformation. The semicircular silicone balls 335 and the telescopic silicone balls 336 with different deformations are in contact with the spherical surface, which increases the contact surface of the spherical object, expands the application range of the handling robot, and can achieve the gripping of objects of various shapes without adding a gripping mechanism, which is highly practical and simple in structure.

[0052] In the present design, a deformed semicircular silicone ball 335 and a telescopic silicone ball 336 are provided to clamp materials, so as to increase the contact area of ​​the clamped materials for materials with irregular shapes or spherical objects, increase the friction of the clamped materials, ensure the stability of the materials during the handling process, and extend the application range of the handling robot to increase the utilization rate of the handling robot for different materials. At the same time, for materials with irregular shapes, there is no need to replace the matching grasping mechanism, which simplifies the structural equipment of the handling robot and reduces the equipment cost of the handling robot.

[0053] Embodiment 2

[0054] Reference Fig.10 As shown, two hidden circular grooves 338 are provided at the bottom of another set of vertical plates 334, and rolling members 337 are telescopically arranged inside the hidden circular grooves 338. The rolling members 337 include an elastic telescopic rod vertically inserted into the vertical plate 334 and an arc plate fixed to the bottom end of the elastic telescopic rod. The plate body of the arc plate is bent horizontally at both ends of the bottom end, and a plurality of ball bearings distributed in an array are rollingly installed on the outer surface of the arc plate. When the volume of the material is too small and the vertical center plane of the material is low, the clamping structure 3 will be clamped close to the surface of the frame structure 1. In order to prevent the clamping structure 3 from being loosened from the surface of the frame structure 1, Too much resistance is generated between them and the clamping function cannot be achieved. A rolling member 337 is installed at the bottom end of the vertical plate 334. The rolling member 337 includes an elastic telescopic rod and an arc plate. The plate body of the arc plate is bent at both ends of the bottom horizontally. The arc-shaped surface of the arc plate can contact the surface of the frame structure 1 at multiple angles. At the same time, multiple ball bearings are rollingly installed on the surface of the arc plate to reduce the friction between the clamping structure 3 and the frame structure 1. The shock absorbing member 333 and the elastic telescopic rod are squeezed and contracted to lower the clamping center, thereby realizing the clamping of materials of different volumes and expanding the applicable scope of the clamping of the handling robot.

[0055] Embodiment 3

[0056] Refer to the instruction manual Figure 11-Figure 12 As shown: the bearing part includes a bearing plate 11 fixed on a plane and a movable support plate 13 horizontally stacked on the surface of the bearing plate 11, the bearing plate 11 includes two groups of L-shaped plates, and a plurality of interlaced rods are fixed between the two groups of L-shaped plates. The positioning part includes a rotating member 14 rotating inside the bearing plate 11, a rotating plate 15 rotating on the surface of the movable support plate 13, and an auxiliary plate 17 fixed on the upper surface of the movable support plate 13. The rotating member 14 drives the movable support plate 13 to rotate longitudinally, and the material is connected from a high place, and slowly slides to the center of the surface of the movable support plate 13 under the action of gravity. The rotating plate 15 rotates in the horizontal direction. During the process of the material slowly sliding down the surface of the rotating plate 15, it is slowly assisted by the resistance of the rotating plate 15 to locate the position of the material. The auxiliary plate 17 is used to limit the rotation angle of the rotating plate 15;

[0057] The end of the rotating member 14 is bent and inserted into the movable support plate 13 and fixed thereto. The rotation of the rotating member 14 causes the movable support plate 13 to rotate around the central axis of the rotating member 14. The end of the rotating member 14 is processed by a precise bending process to ensure that it fits tightly with the interface of the movable support plate 13 and is firmly fixed thereto by high-strength welding. When the rotating member 14 is rotated by an external force, its central axis serves as the rotation center, driving the movable support plate 13 to perform a circular motion around the axis to achieve its intended rotational motion. This design ensures the stability of the mechanical structure and the accuracy of the rotational motion.

[0058] The shock absorbing part includes a shock absorbing member 18 fixed to the end of the movable support plate 13 and an anti-skid strip fixed to the shock absorbing member 18 and the surface of the movable support plate 13, the anti-skid strip is used to reduce the speed at which the material slides down, and the shock absorbing member 18 is used to prevent the material from impacting the surface of the load-bearing plate 11 to reduce vibration and ensure the safety of the material inside; the shock absorbing member 18 includes a triangular plate fixed to the surface of the movable support plate 13 and a rectangular plate vertically sliding with the surface of the L-shaped plate, two sets of telescopic structures are fixed on the surface of the rectangular plate, the telescopic structure is consistent with the structure of the shock absorbing member 2 333, the rectangular plate is fixedly connected to the pressing plate through the telescopic structure, and when the pressing plate is impacted by the material, the telescopic structure telescopes to reduce the impact and protect the material.

[0059] A group of driving parts 19 are provided on the surface of the carrier plate 11. The driving part 19 includes a fixing plate fixed to the back of the carrier plate 11, a motor fixed to the surface of the fixing plate, and a circular gear connected to the end of the motor output shaft. The model of the motor is Y80m1-2. A group of ring gears are meshed on the surface of the circular gears. The ring gears are sleeved on the surface of the rotating member 14. The motor drives the rotating member 14 to rotate through the ring gears. The rotating member 14 includes a group of rotating rods. The ring gears are fixed to the surface of the rotating rods. Two groups of cylinders are fixed at both ends of the rotating rods passing through the two groups of L-shaped plates. Two groups of bending rods are fixed on the surfaces of the two groups of cylinders. The free ends of the two groups of bending rods are respectively inserted into the two ends of the side of the movable support plate 13.

[0060] A set of positioning rods 12 are fixed at the end of the carrier plate 11, and the connecting structure 2 is fixed to the frame structure 1 through the positioning rods 12; a magnet member 16 is engaged inside the frame structure 1, and the magnet member 16 includes a square magnet and a circular magnet that attract each other. The square magnet is engaged inside the carrier plate 11, and the circular magnet is engaged inside the rotating plate 15. Fig.11 As shown, there are two groups of L-shaped plates and rotating plates 15. The attraction between the square magnets and the circular magnets ensures that the two groups of rotating plates 15 tend to open, thereby expanding the position and orientation of the material falling into and reducing the difficulty of material access.

[0061] Working principle: When the material is conveyed by the conveyor belt to the surface of the frame structure 1, when it is connected, the output shaft end of the motor drives the circular gear to rotate, the circular gear meshes with the ring gear to rotate the rotating rod, and the cylinder fixed to the rotating rod drives the bending rod to rotate, and then the mobile support plate 13 is rotated and lifted at a certain angle, and the end of the mobile support plate 13 connected to the material is lifted;

[0062] When not lifted, the circular magnets engaged in the rotating plate 15 and the square magnets in the carrying plate 11 attract each other, and the two sets of rotating plates 15 open toward one end of the material to expand the falling range of the material. In addition, during the rotation of the movable supporting plate 13, the distance between the circular magnets and the square magnets gradually increases, and the attraction between the circular magnets and the square magnets gradually decreases.

[0063] The material slides to the surface of the mobile support plate 13, and slowly slides down under the action of gravity and the resistance of the anti-slip strip. The rotating plate 15 is squeezed by the material and slowly assists the plate to be straightened. At the same time, the material is also squeezed by the rotating plate 15 to achieve precise positioning. The two groups of auxiliary plates 17 are used to limit the rotation angle of the two groups of rotating plates 15. When the two groups of rotating plates 15 rotate to be parallel to the mobile support plate 13, they stop. The material continues to slide to the surface of the triangular plate and is squeezed by the rectangular plate. The telescopic structure shrinks. During the process of the material slowly sliding down, the mobile support plate 13 is also in a continuous rotation and reset process.

[0064] According to the size of the material, the base is extended and retracted up and down to locate the vertical center position of the material;

[0065] When the material is at the center of the gripping of the frame structure 1, the output end of the hydraulic cylinder 311 drives the straight gear 313 to slide vertically upward, and the four groups of hydraulic cylinders 311 rotate and close together. During the closing process, the rolling member 337 is squeezed by the movable support plate 13, the elastic telescopic rod is shortened, and the shock absorbing member 2 333 located between the two groups of vertical plates is also in a contracted state. The ball on the surface of the arc plate changes with the rotation angle of the clamping structure 3, and the semicircular silicone ball 335 and the telescopic silicone ball 336 contact the side wall of the material. The shock absorbing member 333 between 34 contracts, and the semicircular silicone ball 335 and the telescopic silicone ball 336 are deformed. As the rotation angle of the clamping structure 3 increases, the semicircular silicone ball 335 and the telescopic silicone ball 336 are deformed more seriously until the extension plate 332 is in a vertical state, and the clamping action is completed. In this process, for objects of different shapes, the semicircular silicone ball 335 and the telescopic silicone ball 336 are deformed to different degrees to adapt to materials of different shapes, expand the grasping range of materials, and improve the grasping safety of materials.

[0066] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0067] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0068] Finally: The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mining handling robot, characterized in that: include: A frame structure (1), a clamping structure (3), and a connecting structure (2) for connecting the frame structure (1) and the clamping structure (3); The frame structure (1) comprises a bearing portion for bearing materials, a positioning portion for assisting in correcting the position of the materials, and a shock absorbing portion for buffering the movement speed of the materials; The clamping structure (3) is hoisted on the surface of the connecting structure (2), and comprises a lifting part (31), a hanging part (32), a clamping part (33) and a positioning pin (34), wherein the lifting part (31) is fixedly connected to the inner circumference of the hanging part (32), and the clamping part (33) is rotatably connected to the bottom end of the hanging part (32) via the positioning pin (34), and the lifting part (31) is meshed with the clamping part (33) and the lifting part (31) performs an upward and downward telescopic movement, and the lifting part (31) performs an upward and downward telescopic movement to squeeze the clamping part (33) to rotate, thereby pushing the material to move and position and clamp the material; The clamping portion (33) comprises a clamping plate for clamping materials, a plurality of telescopic silicone balls (336) are glued to the end surface of the clamping plate and a plurality of semicircular silicone balls (335) are fixedly connected thereto, the plurality of semicircular silicone balls (335) are inserted between the plurality of telescopic silicone balls (336), and the end surfaces of the plurality of semicircular silicone balls (335) and the plurality of telescopic silicone balls (336) are flush after being deformed under pressure; The lifting part (31) comprises a group of hydraulic cylinders (311), a positioning plate (312) is fixed on the end surface of the hydraulic cylinder (311), the output shaft of the hydraulic cylinder (311) passes through the positioning plate (312), and the free end of the hydraulic cylinder (311) is fixedly connected to four groups of straight gears (313); the hanging part (32) comprises a group of annular sleeve plates, the lifting part (31) is fixed to the inner circumferential surface of the annular sleeve plate through the positioning plate (312), four groups of straight plates perpendicular to the annular sleeve plate are extended from the outer circumferential surface of the annular sleeve plate, and a slot for The positioning pin (34) is installed in a circular mounting groove; the clamping portion (33) includes a special-shaped gear (331), an extension plate (332) and a vertical plate (334); the extension plate (332) is two discontinuous vertical plates; a set of shock absorbing members (333) is fixedly connected between the two sets of discontinuous vertical plates; the vertical plate at the upper end is connected to the special-shaped gear (331) as a whole, and the vertical plate at the lower end is connected to the vertical plate (334) as a whole; wherein the vertical plate (334) and the extension plate (332) are parallel; the semicircular silicone ball (335) and the extension plate (332) are connected to each other; The telescopic silicone ball (336) is fixed on the end surface of a group of vertical plates (334) away from the extension plate (332), and the positions of the telescopic silicone ball (336) and the second shock absorbing member (333) are staggered; the telescopic silicone ball (336) comprises a threaded tube and an elliptical airbag, and the inner cavities of the threaded tube and the elliptical airbag are connected through a hollow tube, and the hollow tube passes through the vertical plate (334) and is fixed to the vertical plate (334); the bearing part comprises a bearing plate (11) fixed to a plane and a movable support plate (13) horizontally stacked on the surface of the bearing plate (11); the positioning part comprises a rotating A rotating member (14) is disposed inside a carrier plate (11), a rotating plate (15) rotating on the surface of a movable support plate (13), and an auxiliary plate (17) fixed to the upper surface of the movable support plate (13), wherein the end of the rotating member (14) is bent and inserted into and fixed to the movable support plate (13), and the rotating member (14) rotates so that the movable support plate (13) rotates around the central axis of the rotating member (14); the shock absorbing part comprises a shock absorbing member (18) fixed to the end of the movable support plate (13) and an anti-slip strip fixed to the shock absorbing member (18) and the surface of the movable support plate (13).

2. A mining handling robot according to claim 1, characterized in that: The number of the vertical plates (334) is two groups, and the two groups of parallel vertical plates (334) are fixedly connected via a second shock absorbing member (333); The number of the second shock absorbing member (333) is two groups, and the two groups of the second shock absorbing member (333) are perpendicular to each other. The second shock absorbing member (333) includes a telescopic rod and a small spring, and the small spring is spirally attached to the periphery of the telescopic rod.

3. A mining handling robot according to claim 2, characterized in that: Two hidden circular grooves (338) are formed at the bottom ends of another group of vertical plates (334), and rolling members (337) are telescopically disposed inside the hidden circular grooves (338). The rolling members (337) include elastic telescopic rods vertically inserted into the vertical plates (334) and arc-shaped plates fixed to the bottom ends of the elastic telescopic rods. The plate body of the arc-shaped plates is horizontally bent at both ends at the bottom ends, and a plurality of balls distributed in an array are rollably mounted on the outer surface of the arc-shaped plates.

4. A mining handling robot according to claim 3, characterized in that: A group of driving parts (19) are provided on the surface of the carrier plate (11), and the driving parts (19) include a fixing plate fixed to the back of the carrier plate (11), a motor fixed to the surface of the fixing plate, and a circular gear connected to the end of the motor output shaft, and a group of ring gears are meshed on the surface of the circular gears, and the ring gears are sleeved on the surface of the rotating member (14), and the motor drives the rotating member (14) to rotate via the ring gears.

5. A mining handling robot according to claim 4, characterized in that: A group of positioning rods (12) are fixed at the end of the bearing plate (11), and the connection structure (2) is fixed to the frame structure (1) via the positioning rods (12); A magnet component (16) is engaged inside the frame structure (1), and the magnet component (16) comprises a square magnet and a circular magnet that attract each other, the square magnet is engaged inside the carrier plate (11), and the circular magnet is engaged inside the rotating plate (15).

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