Manipulator for synchronously grabbing multiple small-mass coal gangues

Abstract

The invention discloses a manipulator for synchronously grabbing a plurality of small-mass coal gangues, and belongs to the technical field of coal gangue treatment. And the high sorting efficiency is achieved, the device can adapt to gangues with different appearance sizes and weights within a certain range, and the sorting flexibility and accuracy are improved. The grabbing mechanism is installed on the grabbing mechanism connecting device, the grabbing mechanism connecting device is installed on the machine frame, the grabbing mechanism connecting device drives the grabbing mechanism to move up and down, and the discharging device is arranged on one side of the grabbing mechanism, driven by the moving mechanism and capable of moving to the position below the grabbing mechanism. A conveying belt is arranged below the grabbing mechanism. The gangue sorting device has efficient grabbing capacity, can adapt to sizes and characteristics of different gangues, realizes a more flexible and accurate sorting process, and can improve the sorting efficiency of multiple small-mass gangues. Through grabbing of the tentacles, the gangue sorting device can adapt to gangue with different appearance sizes and weights within a certain range, and the sorting flexibility and accuracy are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of coal gangue processing, and in particular relates to a manipulator for synchronously grabbing a plurality of small-mass coal gangues. Background Art

[0002] Coal production contains gangue, the presence of gangue will cause direct waste of transportation and storage resources. With the development of artificial intelligence technology, with the help of gangue identification technology, machine vision technology, and robotics technology, the use of mechanical grippers to efficiently sort coal gangue is an important direction for realizing the intelligent development of coal mines.

[0003] At present, gangue sorting robots mainly deal with the sorting task of multiple small-sized gangues by sequential grasping, which has low sorting efficiency and is prone to collision. This is mainly due to the fact that in the single sorting mode, the robot needs to perform independent operations on each piece of gangue, including identification, positioning and grasping. If the number of gangues is large and exceeds the processing capacity of the system, some smaller gangues need to be abandoned, thus limiting the improvement of the overall sorting efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a manipulator for synchronously grabbing multiple pieces of small-mass coal gangue, which not only has high sorting efficiency, but also can adapt to gangue of different appearance sizes and weights within a certain range, thereby improving the flexibility and accuracy of sorting.

[0005] The technical solution adopted by the present invention is:

[0006] A manipulator for synchronously grabbing multiple pieces of small-mass coal gangue comprises a conveyor belt, a grabbing mechanism connecting device, a frame, a grabbing mechanism and a discharge device; the grabbing mechanism is installed on the grabbing mechanism connecting device, the grabbing mechanism connecting device is installed on the frame, the grabbing mechanism is driven by the grabbing mechanism connecting device to move up and down, the discharge device is arranged on one side of the grabbing mechanism, driven by a moving mechanism, and can be moved to the bottom of the grabbing mechanism, and a conveyor belt is arranged under the grabbing mechanism.

[0007] Compared with the prior art, the present invention has the following beneficial effects:

[0008] The present invention has efficient grasping capability, can adapt to different gangue sizes and characteristics, realizes a more flexible and accurate sorting process, and can improve the sorting efficiency of multiple small-mass gangues.

[0009] The invention can adapt to gangues of different appearance sizes and weights within a certain range by grasping with tentacles, thereby improving the flexibility and accuracy of sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the structure of the present invention;

[0011] Figure 2 It is a schematic diagram of the structure of the grabbing mechanism of the present invention;

[0012] Figure 3 It is an axonometric diagram of the grabbing mechanism of the present invention;

[0013] Figure 4 It is a schematic diagram of the tentacle structure of the present invention;

[0014] Wherein: 1. conveyor belt; 2. grabbing mechanism connecting device; 201. connecting frame; 202. lifting device; 3. frame; 301. column; 302. beam; 4. grabbing mechanism; 401. outer shell; 402. rotatable outer disc frame; 403. tentacles; 404. rotatable inner disc frame; 405. shaft seat; 406. spline; 407. inner rotating plate; 408. driving motor; 409. transmission mechanism; 410. protection device; 411. bending mechanism; 412. external teeth; 413. hose; 414. steel ball; 415. transmission motor; 416. active pulley; 417. synchronous belt; 418. tensioning wheel; 419. driven pulley; 420. cam; 421. rubber sleeve; 422. thin steel plate; 5. unloading device. DETAILED DESCRIPTION

[0015] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0016] like Figure 1 As shown, the present invention provides a manipulator for synchronously grabbing multiple small-mass coal gangue, including a conveyor belt 1, a grabbing mechanism connecting device 2, a frame 3, a grabbing mechanism 4 and a discharge device 5; the grabbing mechanism 4 is installed on the grabbing mechanism connecting device 2, and the grabbing mechanism connecting device 2 is installed on the frame 3, and the grabbing mechanism 4 is driven by the grabbing mechanism connecting device 2 to move up and down, and the discharge device 5 is arranged on one side of the grabbing mechanism 4, driven by the moving mechanism, and can be moved to the bottom of the grabbing mechanism 4. After the grabbing mechanism 4 completes grabbing of the gangue, the discharge device 5 moves to the bottom of the grabbing mechanism 4 and transfers the gangue to the gangue disposal port.

[0017] The moving mechanism may adopt any existing mechanism capable of pushing the unloading device 5 to move, such as a push rod, etc. The moving mechanism is also provided with a support frame to support the unloading device 5 .

[0018] A conveyor belt 1 is arranged below the grabbing mechanism 4 .

[0019] like Figure 1 As shown, the grabbing mechanism connecting device 2 includes a connecting frame 201 and a lifting device 202; the connecting frame 201 is slidably installed on the frame 3, and the lifting device 202 drives the connecting frame 201 to move up and down.

[0020] The lifting device 202 can be any lifting device such as an existing screw lifting device, a telescopic cylinder lifting device, or a gear rack.

[0021] The figure demonstrates the lifting method of the gear rack. A vertical rack is fixed on the outer side of each column 301 of the frame 3. Each rack is meshed with a gear. Each gear is rotatably installed on the connecting frame 201 through its own wheel axle. The gear is driven by the corresponding motor, thereby driving the connecting frame 201 to move up and down along the rack.

[0022] like Figure 2 , Figure 3 As shown, the gripping mechanism 4 includes an outer shell 401, an inner rotating plate 407, a plurality of rotatable outer disk racks 402, a plurality of tentacles 403 and a plurality of rotatable inner disk racks 404; the outer shell 401 is mounted on the connecting frame 201 of the gripping mechanism connecting device 2, the inner rotating plate 407 is rotatably mounted in a center hole set in the outer shell 401, a plurality of outer mounting holes are arranged around the center hole on the outer shell 401, a rotatable outer disk rack 402 is rotatably mounted in each outer mounting hole, a center spline hole is arranged on the inner rotating plate 407 and a plurality of inner mounting holes are arranged around the center spline hole, a rotatable inner disk rack 404 is rotatably mounted in each inner mounting hole, the rotatable outer disk rack 402, the rotatable inner disk rack 404 and the inner rotating plate 407 are all independently rotated by a driving device, and a plurality of tentacles 403 are mounted on the bottom surface of each rotatable outer disk rack 402 and the rotatable inner disk rack 404.

[0023] The position and grasping range of the tentacles 403 can be adjusted according to the particle size of the gangue, so as to realize adaptive grasping of different gangues.

[0024] The rotatable outer chassis 402 and the rotatable inner chassis 404 may be driven individually by a drive motor 408 or may be gear driven.

[0025] The central spline hole of the inner rotating plate 407 is connected to the spline 406 , and the spline 406 is driven by a motor, thereby realizing the rotation of the inner rotating plate 407 .

[0026] The tentacles 403 are bendable, and the bending angle is controllable. According to the identified position of the gangue, the rotatable outer disc frame 402 and the rotatable inner disc frame 404 are appropriately rotated, and according to the particle size of the gangue, a plurality of adjacent tentacles 403 are controlled to cooperate with each other to grab it, so as to realize the synchronous grabbing of multiple gangues of different positions and particle sizes. After completing the synchronous grabbing of multiple gangues, the grabbing mechanism 4 rises, and the unloading device 5 moves to the bottom of the grabbing mechanism 4, and then the grabbing mechanism 4 releases the gangue, and the unloading device 5 transfers the gangue to the dumping port.

[0027] like Figure 4As shown, each tentacle 403 includes a transmission mechanism 409, a protection device 410, a bending mechanism 411 and external teeth 412; the bending mechanism 411 is connected to the transmission mechanism 409 and is driven by the transmission mechanism 409 to bend, a protection device 410 is provided on the outside of the bending mechanism 411 and the transmission mechanism 409, and the upper end of the protection device 410 is hinged to the rotatable outer disc frame 402 or the rotatable inner disc frame 404 through the shaft seat 405, and a plurality of external teeth 412 are provided on the outer surface of the protection device 410.

[0028] The bending mechanism 411 includes a hose 413 and steel balls 414 of different sizes wrapped in the hose 413 .

[0029] The transmission mechanism 409 includes a transmission motor 415, a driving pulley 416, a synchronous belt 417, a plurality of driven pulleys 419 and a plurality of cams 420 of different specifications; the plurality of cams 420 are arranged along the hose 413 on the outside of the hose 413, and each cam 420 is synchronously provided with a plurality of driven pulleys 419, and a driving pulley 416 is installed on the output shaft of the transmission motor 415, and the driving pulley 416 is transmission-connected to the plurality of driven pulleys 419 through a synchronous belt 417, and the plurality of driven pulleys 419 and the plurality of cams 420 are rotatably installed in the protection device 410, and the transmission motor 415 is fixedly installed in the protection device 410.

[0030] A plurality of tension wheels 418 are arranged along the synchronous belt 417 , and the plurality of tension wheels 418 are rotatably installed in the protection device 410 .

[0031] The protection device 410 includes a deformable thin steel plate 422 and a rubber sleeve 421 ; the thin steel plate 422 is sleeved on the outside of the bending mechanism 411 and the transmission mechanism 409 , and the rubber sleeve 421 is sleeved on the outside of the thin steel plate 422 .

[0032] The outer teeth 412 are made of wear-resistant material.

[0033] The tentacle 403 can adjust the position of the steel ball 414 through the cam 420, so as to achieve bending at different angles to achieve grabbing actions at different angles. At the same time, the tentacle 403 also uses a protective device 410 composed of a deformable thin steel plate 422 and a rubber sleeve 421, and teeth composed of wear-resistant materials, so as to better protect the mechanism and improve its durability.

[0034] The frame 3 includes four columns 301 and a plurality of beams 302; the four columns 301 are connected by the beams 302. The frame 3 has good stability and is used to stably support the grasping mechanism 4 to move up and down.

[0035] The manipulator is also provided with a motion control system, which is composed of a host computer and a motion controller. The host computer sends instructions to the motion controller by receiving external information. The motion controller acts as a bridge to control the motor to achieve corresponding actions. Independent motors are used to control the rotatable outer disk rack 402 and the rotatable inner disk rack 404. By individually controlling the rotation speed and direction of the rotatable outer disk rack 402 and the rotatable inner disk rack 404, more accurate and efficient adjustment can be achieved during the motion process.

[0036] The transmission motor 415 used by the tentacle 403 drives the movement of the cam 420 through the active pulley 416, the driven pulley 419 and the synchronous belt 417. This method provides a reliable and efficient driving system for the tentacle 403. It has smooth movement and sensitive response, and can meet the precise requirements of the movement of the tentacle 403 in different application scenarios.

[0037] The present invention designs a coal gangue sorting method, aiming to avoid the problem of low single-piece sorting efficiency when a gangue sorting robot sorts small-mass gangue. According to the position information of multiple small-mass gangue in a frame of photo recognized by an image recognition system, the rotation angle of the rotating platform is adjusted by a motion controller to adjust the position and opening and closing size of each tentacles 403. When the target frame enters the grasping range, the grasping mechanism 4 moves downward to complete the grasping of multiple pieces of coal gangue. The method accurately controls each motor, and when multiple pieces of small-mass gangue appear in a frame of image, this operation can improve the overall sorting efficiency.

[0038] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A manipulator for synchronously grabbing multiple pieces of small-mass coal gangue, characterized in that: The invention comprises a conveyor belt (1), a gripping mechanism connecting device (2), a frame (3), a gripping mechanism (4) and a discharge device (5); the gripping mechanism (4) is mounted on the gripping mechanism connecting device (2), the gripping mechanism connecting device (2) is mounted on the frame (3), the gripping mechanism connecting device (2) drives the gripping mechanism (4) to move up and down, the discharge device (5) is arranged on one side of the gripping mechanism (4), driven by a moving mechanism, and can be moved to the bottom of the gripping mechanism (4), and a conveyor belt (1) is arranged below the gripping mechanism (4).

2. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 1 is characterized in that: The grabbing mechanism connecting device (2) comprises a connecting frame (201) and a lifting device (202); the connecting frame (201) is slidably mounted on the frame (3) up and down, and the lifting device (202) drives the connecting frame (201) to move up and down.

3. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 1 is characterized in that: The gripping mechanism (4) comprises an outer shell (401), an inner rotating plate (407), a plurality of rotatable outer disk racks (402), a plurality of tentacles (403) and a plurality of rotatable inner disk racks (404); the outer shell (401) is mounted on a connecting frame (201) of a gripping mechanism connecting device (2); the inner rotating plate (407) is rotatably mounted in a central hole of the outer shell (401); a plurality of outer mounting holes are provided on the outer shell (401) around the central hole; a rotatable mounting member is provided in each of the outer mounting holes; There is a rotatable outer disk rack (402), the inner rotating plate (407) is provided with a central spline hole and a plurality of inner mounting holes are provided around the central spline hole, a rotatable inner disk rack (404) is rotatably mounted in each inner mounting hole, the rotatable outer disk rack (402), the rotatable inner disk rack (404) and the inner rotating plate (407) are all independently rotated by a driving device, and a plurality of tentacles (403) are installed on the bottom surface of each rotatable outer disk rack (402) and rotatable inner disk rack (404).

4. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 3 is characterized in that: Each tentacle (403) comprises a transmission mechanism (409), a protection device (410), a bending mechanism (411) and external teeth (412); the bending mechanism (411) is connected to the transmission mechanism (409), and the bending mechanism (411) is driven by the transmission mechanism (409) to bend; a protection device (410) is provided on the outside of the bending mechanism (411) and the transmission mechanism (409); the upper end of the protection device (410) is hinged to a rotatable outer disc frame (402) or a rotatable inner disc frame (404) through an axle seat (405); and a plurality of external teeth (412) are provided on the outer surface of the protection device (410).

5. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 4 is characterized in that: The bending mechanism (411) comprises a hose (413) and steel balls (414) of different sizes wrapped in the hose (413).

6. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 5, characterized in that: The transmission mechanism (409) comprises a transmission motor (415), a driving pulley (416), a synchronous belt (417), a plurality of driven pulleys (419) and a plurality of cams (420) of different specifications; the plurality of cams (420) are arranged along the hose (413) on the outside of the hose (413), each cam (420) is synchronously arranged with a plurality of driven pulleys (419), an driving pulley (416) is installed on the output shaft of the transmission motor (415), the driving pulley (416) is transmission-connected with the plurality of driven pulleys (419) through a synchronous belt (417), the plurality of driven pulleys (419) and the plurality of cams (420) are rotatably installed in the protection device (410), and the transmission motor (415) is fixedly installed in the protection device (410).

7. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 6 is characterized in that: A plurality of tension wheels (418) are arranged along the synchronous belt (417), and the plurality of tension wheels (418) are rotatably mounted in the protection device (410).

8. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 6 is characterized in that: The protection device (410) comprises a deformable thin steel plate (422) and a rubber sleeve (421); the thin steel plate (422) is sleeved on the outside of the bending mechanism (411) and the transmission mechanism (409), and the rubber sleeve (421) is sleeved on the outside of the thin steel plate (422).

9. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 7, characterized in that: The outer teeth (412) are made of wear-resistant material.

10. The manipulator for synchronously grabbing multiple pieces of small-mass coal gangue according to claim 1, characterized in that: The frame (3) comprises four upright posts (301) and a plurality of cross beams (302); the four upright posts (301) are connected via the cross beams (302).

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