Grabbing manipulator for open-cast mining

Abstract

The grabbing manipulator comprises a first shell and a second shell, the bottom of the first shell is fixedly connected with a connecting column, the connecting column is fixedly connected with the second shell, the bottom of the second shell is of an opening structure, a first fixing plate is arranged in the second shell, and a second fixing plate is arranged in the second shell. The exterior of the first fixing plate is fixedly connected with a first connecting plate, the first connecting plate is fixedly connected with the interior of the second shell, the bottom of the first fixing plate is fixedly connected with a plurality of sets of mounting frames, through the arrangement of a driving assembly, a rotating arm and a clamping arm can be controlled to rotate, so that ore is clamped, and through the arrangement of a synchronous control assembly, the ore clamping efficiency is improved. When large ore is encountered, the clamping arms can be controlled to move downwards, so that a larger clamping space is formed through adjustment, the large ore is further clamped conveniently, and the actual use requirement of mine field mining is met.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a grabbing manipulator for open-pit mining. Background Art

[0002] When mining, a mine needs a loading vehicle to transport the mined ore, so the ore needs to be transported to the loading vehicle. In the prior art, there are methods of using an excavator bucket to dig and transport the ore, and there are also methods of installing a clamping manipulator on the mechanical arm of the excavator to transport the ore by clamping.

[0003] In the prior art, the jaws of the manipulators used for ore clamping are mostly fixed in size, so that the opening and closing angles and the clamping space are fixed. Therefore, when encountering larger ores (exceeding the clamping range of the manipulator itself), it is impossible to clamp and transport them.

[0004] After searching, a Chinese patent with announcement number: CN110757495B discloses a mineral grabbing robot, including a power distribution device, a horizontal connecting flange located below the power distribution device, a connecting lifting rod connected between the power distribution device and the horizontal connecting flange, and a clamp installed below the horizontal connecting flange; the clamp has the ability to move horizontally and up and down under the action of the power distribution device.

[0005] In this patent, the clamp is fixed and cannot be adjusted, thus resulting in the above-mentioned technical problems. Summary of the invention

[0006] In view of the technical problem that in the prior art, in manipulators used for clamping ore, the size of the jaws is mostly fixed, so that the opening and closing angles, as well as the clamping space are all fixed, resulting in the inability to clamp and transport larger ore (exceeding the clamping range of the manipulator itself). The present invention provides a grabbing manipulator for open-pit mining.

[0007] The technical solution adopted by the present invention is: a grabbing manipulator for open-pit mining, comprising a first shell and a second shell, the bottom of the first shell is fixedly connected with a connecting column, the connecting column is fixedly connected to the second shell, the bottom of the second shell is an open structure, a first fixing plate is provided in the second shell, the outside of the first fixing plate is fixedly connected with a first connecting plate, the first connecting plate is fixedly connected to the inside of the second shell, the bottom of the first fixing plate is fixedly connected with multiple groups of mounting frames, the outside of the mounting frames is rotatably connected with a rotating rod, the outside of the rotating rod is fixedly connected with a rotating arm, the outside of the rotating arm is fixedly connected with a connecting block, a clamping arm is provided at the bottom of the connecting block, a synchronous control component is provided above the connecting block, the synchronous control component is used to control the synchronous vertical movement of the clamping arm, a driving component is provided in the first shell, and the driving component is used to drive multiple groups of rotating arms to rotate synchronously.

[0008] The present invention is further configured such that at least one group of second gears is fixedly connected to the outside of the rotating rod, a second rack is provided above the second gear, a sliding frame is fixedly connected to the outside of the second rack, a slide board is fixedly connected to the outside of the sliding frame, limiting strips are fixedly connected to both sides of the slide board corresponding to the top of the first fixed plate, a rotating disk is rotatably connected to the top of the second shell, multiple groups of connecting rods are hinged on the outside of the rotating disk, one end of the connecting rod is rotatably connected to a pin shaft, the bottom of the pin shaft is rotatably connected to a sliding rod, the bottom of the sliding rod is fixedly connected to a sliding column, the sliding column is fixedly connected to the slide board, a sliding hole is provided at the position of the pin shaft corresponding to the top of the second shell, and the pin shaft is slidably connected to the sliding hole.

[0009] The present invention is further configured such that a fixing frame is fixedly connected to the outside of the mounting frame, a sliding block is fixedly connected to the bottom of the fixing frame, a sliding groove is provided at the top of the second rack, and the sliding block is slidably connected in the sliding groove.

[0010] The present invention is further configured such that the driving assembly includes a first hydraulic cylinder fixedly connected in a first housing and a first rack fixedly connected to an output end of the first hydraulic cylinder, a rotating shaft is rotatably connected in the first housing, a first gear is fixedly connected to the outside of the rotating shaft, and the rotating shaft is coaxially fixedly connected to the turntable.

[0011] The present invention is further configured as follows: the synchronous control component includes a nut block rotatably connected to the top of the connecting block, a bevel gear fixedly connected to the top of the nut block, and a conical ring arranged under the second shell body, the nut block is threadedly connected with a threaded column, the threaded column passes through the connecting block and is fixedly connected to the clamping arm, the top of the threaded column is fixedly connected with a second connecting plate, the bottom of the second connecting plate is fixedly connected with a limiting rod, the limiting rod passes through the connecting block, the bottom of the conical ring is provided with conical teeth, the outside of the first shell is fixedly connected with a second hydraulic cylinder, the output end of the second hydraulic cylinder is fixedly connected with a lifting ring, the bottom of the lifting ring is provided with an annular groove, the annular groove is slidably connected with an annular bar, and the annular bar is fixedly connected to the conical ring.

[0012] The present invention is further configured such that a motor is fixedly connected to the outside of the lifting ring, a third gear is fixedly connected to the output end of the motor, a gear ring is fixedly connected to the outside of the conical ring, and the gear meshes with the gear ring.

[0013] The present invention is further configured such that a first spring is sleeved on the exterior of the limiting rod, and a limiting plate is fixedly connected to the bottom of the clamping arm.

[0014] The present invention is further configured such that an iron plate is fixedly connected to the bottom of the connection block, an electromagnet is fixedly connected to the bottom of the limit rod, and the electromagnet contacts the iron plate.

[0015] The present invention is further configured as follows: a sliding sleeve is provided above the connecting block, the sliding sleeve is an annular structure, the sliding sleeve is provided outside the nut block, a magnet ring is fixedly connected to the top of the sliding sleeve, and a second spring is connected between the sliding sleeve and the connecting block.

[0016] The present invention is further configured such that an extension plate is fixedly connected to the outside of the sliding sleeve, a second fixing plate is fixedly connected to the outside of the lifting ring, a resisting column is fixedly connected to the bottom of the second fixing plate, and the resisting column corresponds to the extension plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In the present invention, by setting the driving component, the rotating arm and the clamping arm can be controlled to rotate, so as to clamp the ore. By setting the synchronous control component, when encountering larger ore, the clamping arm can be controlled to move downward, so as to adjust a larger clamping space, which is convenient for further clamping of larger ore and meets the actual use of mining.

[0019] 2. In the present invention, the first rack is driven to slide by the first hydraulic cylinder, the first rack drives the first gear to rotate, the first gear drives the turntable to rotate through the rotating shaft, and then through the cooperation of the connecting rod, the outside of the clamping arm can be opened to allow it to correspond to the ore.

[0020] 3. In the present invention, if a larger sized ore is encountered, the lifting ring and the tapered ring are driven downward by the second hydraulic cylinder, so that the tapered teeth are meshed with the bevel gear, and the third gear is driven to rotate by the motor. The third gear is meshed with the gear ring, thereby driving the tapered ring to rotate. The tapered ring drives the bevel gear to rotate through the tapered teeth, and the nut block brought by the bevel gear rotates, driving the threaded column to move downward. The threaded column drives the clamping arm to move downward, thereby increasing the length of the clamping arm and facilitating further clamping of larger ore.

[0021] 4. In the present invention, after the lifting ring moves downward, the abutment column will abut against the outside of the extension plate, allowing the extension plate to drive the sliding sleeve to move downward, so that the magnet ring is no longer adsorbed and fixed to the bottom of the bevel gear. After the adjustment is completed, the second hydraulic cylinder drives the lifting ring to move upward, and the abutment column no longer abuts against the extension plate. The sliding sleeve is under the elastic force of the second spring, so that the magnet ring can be adsorbed on the bottom of the bevel gear again, and the bevel gear is adsorbed and fixed, thereby ensuring the stability of the threaded column and the nut block.

[0022] 5. In the present invention, by constructing a complete sensor network and data acquisition and transmission system in Example 3, it is possible to monitor various parameters of the clamping device in real time, and establish a fault diagnosis model based on sensor data, thereby realizing timely discovery, accurate diagnosis and early warning of equipment faults, solving the lag problem of traditional clamping devices in fault monitoring and processing, improving the continuity and production efficiency of mining operations, and realizing fully intelligent operation from ore characteristic analysis, clamping force optimization calculation to fault diagnosis and control command generation, significantly improving the intelligence level of the ore clamping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure after the lifting ring of the present invention is lowered;

[0025] Figure 3 It is a schematic structural diagram of the first shell, the second shell and the clamping arm in the present invention;

[0026] Figure 4 It is a schematic diagram of the installation position structure of the rotating arm and the clamping arm in the present invention;

[0027] Figure 5 is a schematic diagram of the internal structure of the first shell in the present invention;

[0028] Figure 6 It is a structural schematic diagram of the first gear and the first rack in the present invention;

[0029] Figure 7 is a schematic diagram of the internal structure of the second shell in the present invention;

[0030] Figure 8 is a schematic diagram of the external structure of the first fixing plate in the present invention;

[0031] Fig. 9 It is a schematic diagram of the bottom structure of the first fixed plate in the present invention;

[0032] Fig.10 yes Figure 7 Schematic diagram of the enlarged structure of the A area in the middle;

[0033] Fig.11 It is a schematic diagram of the structure of the clamping arm in the present invention;

[0034] Fig.12 It is a schematic diagram of the structure of the clamping arm (excluding the sliding sleeve) in the present invention;

[0035] Fig.13 It is a schematic diagram of the structure of the sliding sleeve in the present invention;

[0036] Fig.14 It is a schematic diagram of the bottom structure of the sliding sleeve in the present invention;

[0037] Fig.15 It is a schematic diagram of the structure of the lifting ring and the tapered ring in the present invention;

[0038] Fig.16 It is a schematic diagram of the bottom structure of the lifting ring and the conical ring in the present invention;

[0039] Fig.17 It is a schematic diagram of the bottom structure of the conical ring in the present invention;

[0040] Fig.18 It is a schematic diagram of the structure of the lifting ring in the present invention when viewed from above.

[0041] The markings in the figure are:

[0042] 10. first housing; 101. connecting column;

[0043] 20. second housing; 201. sliding hole;

[0044] 30. first hydraulic cylinder; 301. first rack; 302. first gear; 303. rotating shaft;

[0045] 40, turntable; 401, connecting rod; 402, pin shaft; 403, sliding column; 404, limit bar; 405, first fixed plate; 406, first connecting plate; 407, sliding plate; 408, sliding frame; 409, second rack; 4010, fixed frame; 4011, sliding block; 4012, mounting frame; 4013, rotating rod; 4014, second gear; 4015, sliding groove; 4016, sliding rod;

[0046] 50, rotating arm; 501, clamping arm; 502, limiting plate; 503, iron plate; 504, threaded column; 505, nut block; 506, connecting block; 507, limiting rod; 508, first spring; 509, second connecting plate; 5010, electromagnet; 5011, bevel gear;

[0047] 60, sliding sleeve; 601, magnet ring; 602, extension plate; 603, second spring;

[0048] 70. lifting ring; 701. conical ring; 702. gear ring; 703. second fixed plate; 704. abutment column; 705. annular groove; 706. annular strip; 707. conical teeth; 708. motor; 709. third gear; 7010. second hydraulic cylinder. DETAILED DESCRIPTION

[0049] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as “front”, “up”, “down”, “left”, “right”, “vertical” and “horizontal” are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0050] The following is combined with Figure 1-18 The present invention is further described.

[0051] Embodiment 1:

[0052] In order to solve the problems existing in the background technology, the present application proposes the following technical solution: a grabbing robot for open-pit mining, comprising a first shell 10 and a second shell 20, wherein a connecting column 101 is fixedly connected to the bottom of the first shell 10, and the connecting column 101 is fixedly connected to the second shell 20.

[0053] In the specific technical solution, the bottom of the second shell 20 in this embodiment is an open structure, and a first fixing plate 405 is provided inside the second shell 20. The outside of the first fixing plate 405 is fixedly connected to a first connecting plate 406, and the first connecting plate 406 is fixedly connected to the inside of the second shell 20, thereby realizing the fixed connection of the first fixing plate 405.

[0054] In another design, a plurality of mounting frames 4012 are fixedly connected to the bottom of the first fixed plate 405, the mounting frames 4012 are rotatably connected to a rotating rod 4013 on the outside, the rotating rod 4013 is fixedly connected to a rotating arm 50 on the outside, the rotating arm 50 is fixedly connected to a connecting block 506 on the outside, and a clamping arm 501 is provided at the bottom of the connecting block 506 for clamping the ore.

[0055] In this embodiment, a synchronous control component is provided above the connecting block 506 , and the synchronous control component is used to control the synchronous vertical movement of the clamping arm 501 .

[0056] Among them, the synchronous control component includes a nut block 505 rotatably connected to the top of the connecting block 506, a bevel gear 5011 fixedly connected to the top of the nut block 505, and a conical ring 701 arranged under the second housing 20. The nut block 505 is rotatably connected to the top of the connecting block 506 through a bearing.

[0057] In this embodiment, a threaded column 504 is threadedly connected in the nut block 505. The threaded column 504 is made of high-strength alloy material. The threaded column 504 passes through the connecting block 506 and is fixedly connected to the clamping arm 501. The threaded column 504 is used to drive the clamping arm 501 to move synchronously. A second connecting plate 509 is fixedly connected to the top of the threaded column 504. The bottom of the second connecting plate 509 is fixedly connected to a limiting rod 507. The limiting rod 507 passes through the connecting block 506. The limiting rod 507 is used to guide and limit the movement of the clamping arm 501. In order to buffer the movement adjustment of the clamping arm 501, a first spring 508 is sleeved on the outside of the limiting rod 507. The bottom of the clamping arm 501 is fixedly connected to the limiting plate 502. The limiting plate 502 is used to assist the clamping arm 501 in clamping and fixing the ore.

[0058] In addition, conical teeth 707 are provided at the bottom of the conical ring 701, and the conical teeth 707 are used to mesh with the bevel gear 5011 to drive the bevel gear 5011 to rotate. A second hydraulic cylinder 7010 is fixedly connected to the outside of the first shell 10, and a lifting ring 70 is fixedly connected to the output end of the second hydraulic cylinder 7010. An annular groove 705 is provided at the bottom of the lifting ring 70, and an annular bar 706 is slidably connected in the annular groove 705. The annular bar 706 is fixedly connected to the conical ring 701, thereby realizing the rotation of the conical ring 701 at the bottom of the lifting ring 70.

[0059] Among them, a motor 708 is fixedly connected to the outside of the lifting ring 70, and a third gear 709 is fixedly connected to the output end of the motor 708. A gear ring 702 is fixedly connected to the outside of the conical ring 701. The gear is meshed with the gear ring 702, and the third gear 709 is driven to rotate by the motor 708. The third gear 709 is meshed with the gear ring 702, thereby driving the conical ring 701 to rotate. The conical ring 701 drives the bevel gear 5011 to rotate through the conical teeth 707, and the nut block 505 carried by the bevel gear 5011 rotates. After the nut block 505 rotates, it can drive the threaded column 504 to move downward through the limiting guide of the limiting rod 507. The threaded column 504 drives the clamping arm 501 to move downward, thereby increasing the length of the clamping arm 501, which is convenient for further clamping of larger ores.

[0060] As another embodiment, a sliding sleeve 60 is further provided above the connecting block 506, the sliding sleeve 60 is an annular structure, the sliding sleeve 60 is sleeved on the outside of the nut block 505, the top of the sliding sleeve 60 is fixedly connected with a magnet ring 601, a second spring 603 is connected between the sliding sleeve 60 and the connecting block 506, the outside of the sliding sleeve 60 is fixedly connected with an extension plate 602, the outside of the lifting ring 70 is fixedly connected with a second fixed plate 703, the bottom of the second fixed plate 703 is fixedly connected with a resistance column 704, and the resistance column 704 corresponds to the extension plate 602.

[0061] The above technical solution is explained as follows: in the initial state, under the push of the elastic force of the second spring 603, the magnet ring 601 is adsorbed on the bottom of the bevel gear 5011, so that the nut block 505 is adsorbed and fixed. When the length of the clamping arm 501 is synchronously adjusted, the lifting ring 70 is driven downward by the second hydraulic cylinder 7010, and the abutment column 704 will abut against the outside of the extension plate 602, so that the extension plate 602 drives the sliding sleeve 60 to move downward, so that the magnet ring 601 is not adsorbed and fixed to the bottom of the bevel gear 5011.

[0062] In this embodiment, a driving assembly is further provided in the first housing 10 , and the driving assembly is used to drive the multiple groups of rotating arms 50 to rotate synchronously.

[0063] Among them, at least one set of second gears 4014 is fixedly connected to the outside of the rotating rod 4013, a second rack 409 is provided above the second gear 4014, the outside of the second rack 409 is fixedly connected to a sliding frame 408, the outside of the sliding frame 408 is fixedly connected to a slide plate 407, and both sides of the slide plate 407 corresponding to the top of the first fixed plate 405 are fixedly connected with limit strips 404, the limit strips 404 are used to limit and guide the slide plate 407, and the slide plate 407 is used to drive the slide plate 408 to slide.

[0064] The top of the second housing 20 is rotatably connected with a turntable 40, and the outside of the turntable 40 is hinged with multiple groups of connecting rods 401. One end of the connecting rod 401 is rotatably connected with a pin shaft 402, and the bottom of the pin shaft 402 is rotatably connected with a slide bar 4016. The bottom of the slide bar 4016 is fixedly connected with a slide column 403, and the slide column 403 is fixedly connected to the slide plate 407. The top of the second housing 20 corresponds to the position of the pin shaft 402, and the pin shaft 402 slides. Connected in the sliding hole 201, when the turntable 40 rotates, the turntable 40 drives the connecting rod 401 to move, the connecting rod 401 drives the pin 402 to slide, the pin 402 drives the sliding rod 4016 to slide, the sliding rod 4016 drives the slide plate 407 to rotate toward the center of the turntable 40 through the sliding column 403, and after the slide plate 407 slides, it will drive the second rack 409 to drive the second gear 4014 to rotate, and the second gear 4014 drives the rotating arm 50 and the clamping arm 501 to slide outward.

[0065] In this embodiment, the driving assembly includes a first hydraulic cylinder 30 fixedly connected to the first housing 10 and a first rack 301 fixedly connected to the output end of the first hydraulic cylinder 30. A rotating shaft 303 is rotatably connected to the first housing 10. The outside of the rotating shaft 303 is fixedly connected to a first gear 302. The rotating shaft 303 is coaxially fixedly connected to the rotating disk 40. The first hydraulic cylinder 30 drives the first rack 301 to slide, and the first rack 301 drives the first gear 302 to rotate. The first gear 302 is driven by the rotating shaft. 303 drives the turntable 40 to rotate, the turntable 40 drives the connecting rod 401 to move, the connecting rod 401 drives the pin shaft 402 to slide, the pin shaft 402 drives the sliding rod 4016 to slide, the sliding rod 4016 drives the slide plate 407 to rotate toward the center of the turntable 40 through the sliding column 403, and after the slide plate 407 slides, it will drive the second rack 409 to drive the second gear 4014 to rotate, and the second gear 4014 drives the rotating arm 50 and the clamping arm 501 to slide outward, thereby opening the outside of the clamping arm 501.

[0066] In order to ensure the stable sliding of the second rack 409 , a fixing frame 4010 is fixedly connected to the outside of the mounting frame 4012 , a slider 4011 is fixedly connected to the bottom of the fixing frame 4010 , a slide groove 4015 is provided on the top of the second rack 409 , and the slider 4011 is slidably connected to the slide groove 4015 .

[0067] In this embodiment, the specific method of use is as follows:

[0068] The bottom of the equipment is connected to the mechanical arm of the excavator or other engineering vehicles. When it is necessary to clamp and transport ore, it is only necessary to start the first hydraulic cylinder 30, and the first hydraulic cylinder 30 drives the first rack 301 to slide, and the first rack 301 drives the first gear 302 to rotate, and the first gear 302 drives the turntable 40 to rotate through the rotating shaft 303, and the turntable 40 drives the connecting rod 401 to move, and the connecting rod 401 drives the pin 402 to slide, and the pin 402 drives the slide bar 4016 to slide, and the slide bar 4016 drives the slide plate 407 to rotate toward the center of the turntable 40 through the slide column 403, and after the slide plate 407 slides, it will drive the second rack 409 to drive the second gear 4014 to rotate, and the second gear 4014 drives the rotating arm 50 and the clamping arm 501 to slide outward, so as to open the outside of the clamping arm 501;

[0069] Then, through the operation of the excavator, multiple groups of clamping arms 501 are set on the outside of the ore, and then the hydraulic cylinder is started to work, so that the first gear 302 rotates in the opposite direction. The same principle is used, and the slide plate 407 slides outward, so that the ore can be clamped and fixed by the clamping arm 501. Then, the mechanical arm of the excavator is operated to lift the device, so that the ore can be grabbed and transferred;

[0070] If a larger ore is encountered, it is only necessary to start the second hydraulic cylinder 7010 to drive the lifting ring 70 and the conical ring 701 to move downward, so that the conical teeth 707 are meshed with the bevel gear 5011, and then the motor 708 is started to drive the third gear 709 to rotate, and the third gear 709 is meshed with the gear ring 702, so that the conical ring 701 can be driven to rotate, and the conical ring 701 drives the bevel gear 5011 to rotate through the conical teeth 707, and the nut block 505 with the bevel gear 5011 rotates. After the nut block 505 rotates, it can drive the threaded column 504 to move downward through the limiting guide of the limiting rod 507, and the threaded column 504 drives the clamping arm 501 to move downward, so that the length of the clamping arm 501 can be increased, which is convenient for further clamping of larger ores.

[0071] In addition, after the lifting ring 70 moves downward, the abutment column 704 abuts against the outside of the extension plate 602, allowing the extension plate 602 to drive the sliding sleeve 60 to move downward, so that the magnet ring 601 is not adsorbed and fixed to the bottom of the bevel gear 5011;

[0072] After the adjustment is completed, the second hydraulic cylinder 7010 drives the lifting ring 70 to move upward and retract to the bottom of the second housing 20. Figure 1 As shown in , the rotation of the clamping arm 501 is not affected;

[0073] In addition, after the lifting ring 70 slides upward, the abutment column 704 no longer abuts against the extension plate 602, and the sliding sleeve 60, under the elastic force of the second spring 603, allows the magnet ring 601 to be adsorbed on the bottom of the bevel gear 5011 again, thereby adsorbing and fixing the bevel gear 5011.

[0074] In summary, in this embodiment, the length of the clamping arm 501 can be adjusted according to the size of the ore, so that ores of different sizes can be clamped and transported.

[0075] Embodiment 2:

[0076] The present embodiment is different from the first embodiment in that, in the present embodiment, an iron plate 503 is fixedly connected to the bottom of the connecting block 506 , an electromagnet 5010 is fixedly connected to the bottom of the limiting rod 507 , and the electromagnet 5010 is in conflict with the iron plate 503 .

[0077] The above technical solution is explained as follows:

[0078] In the initial state, the electromagnet 5010 is adsorbed and fixed to the iron plate 503, thereby ensuring the stability of the clamping arm 501. When the length of the clamping arm 501 needs to be adjusted, it is only necessary to cut off the power of the electromagnet 5010 in advance so that the electromagnet 5010 is no longer adsorbed and fixed to the iron plate 503. After the adjustment of the clamping arm 501 is completed, the electromagnet 5010 is energized again so that the electromagnet 5010 is adsorbed and fixed to the iron plate 503.

[0079] Embodiment three:

[0080] In order to cooperate with the use of the first embodiment, this embodiment is different from the first embodiment in that, in this embodiment, a control monitoring system is also provided;

[0081] The control and monitoring system is mainly composed of sensor module, data acquisition and transmission module, data analysis and processing module, control instruction generation module and actuator drive module. The modules work together to achieve comprehensive monitoring and intelligent control of the ore clamping device.

[0082] 1. The sensor module includes the following:

[0083] A high-precision pressure sensor is installed on the clamping arm 501 to measure the clamping force when clamping the ore. The strain gauge pressure sensor is based on the resistance strain effect. When pressure acts on the elastic element of the sensor, the resistance value of the strain gauge will change. By measuring the change in resistance value and according to the pre-calibrated resistance-pressure relationship curve, the clamping force can be accurately calculated. The measurement range of the sensor is 0-500kN, and the measurement accuracy can reach ±0.5%FS (full scale).

[0084] At the same time, a friction sensor is installed on the surface of the clamping arm 501 in contact with the ore to measure the friction of the ore during the clamping process. The sensor adopts the principle based on the piezoelectric effect. When the friction force acts on the sensitive element of the sensor, a charge signal is generated. The charge signal is converted into a voltage signal through a charge amplifier, and then the friction force is calculated according to the calibrated voltage-friction force relationship curve. Its measurement range is 0-100kN, and the accuracy is ±1%FS.

[0085] A high-definition industrial camera is also installed on the outside of the device (e.g., the first housing 10 or the second housing 20) as a visual sensor to obtain image information of the ore. The camera has a resolution of more than 20 million pixels and a frame rate of more than 30fps, which can clearly capture the shape, size, texture and other features of the ore. By processing the captured ore image through an image recognition algorithm, the geometric parameters of the ore such as volume and surface area can be calculated, providing a basis for subsequent clamping force optimization.

[0086] A rotary encoder is installed at the connection between the rotating arm 50 and the clamping arm 501 as a position sensor to accurately measure the rotation angle and extension length of the clamping arm 501. The rotary encoder adopts the photoelectric principle, converts the mechanical rotation angle into a pulse signal through photoelectric conversion, and calculates the position information of the clamping arm 501 according to the number of pulses. Its resolution can reach 0.1°, and the measurement accuracy is ±0.05°, which can meet the high-precision requirements of the clamping device for position control.

[0087] 2. Data collection and transmission mode:

[0088] The data acquisition card uses a high-speed multi-channel data acquisition card with a sampling frequency of more than 1kHz, which can simultaneously collect signals from mechanical sensors, visual sensors, and position sensors. The acquisition card converts the analog signals output by the sensor (such as the voltage signal of the pressure sensor, the charge signal of the friction sensor, etc.) into digital signals with a conversion accuracy of more than 16 bits, and transmits the converted digital signals to the data processing unit.

[0089] Data transmission is carried out by combining industrial Ethernet and wireless Wi-Fi. At the mining site, when the distance between devices is short and the network environment is stable, industrial Ethernet is used for data transmission to ensure the high speed and reliability of data transmission; when the device is in a mobile state or in an area where network wiring is inconvenient, it is switched to wireless Wi-Fi for data transmission. The data transmission process uses encryption protocols, such as SSL / TLS encryption protocols, to ensure the security and integrity of the data.

[0090] The received sensor data is filtered to remove noise interference. For the data of the pressure sensor and friction sensor, the mean filter algorithm is used, that is, multiple data points are continuously collected and their average value is calculated as the effective data to reduce data fluctuations. For the image data obtained by the visual sensor, the median filter algorithm is used to effectively remove the salt and pepper noise in the image and improve the image quality.

[0091] Normalize the data and convert sensor data of different ranges and units into a unified standard scale to facilitate subsequent data analysis and calculation. For example, normalize the clamping force data to between 0 and 1, and convert the position data into relative coordinate values ​​relative to the initial position of the clamping device.

[0092] The above technical solution is explained as follows: In this embodiment, the received sensor data is filtered to remove noise interference. For the data of the pressure sensor and the friction sensor, a mean filtering algorithm is adopted, that is, multiple data points are continuously collected and their average value is calculated as the valid data to reduce data fluctuations.

[0093] For the image data obtained by the visual sensor, the median filter algorithm is used to effectively remove the salt and pepper noise in the image, improve the image quality, and normalize the data to convert the sensor data of different ranges and units into a unified standard scale to facilitate subsequent data analysis and calculation. For example, the clamping force data is normalized to between 0 and 1, and the position data is converted into relative coordinate values ​​relative to the initial position of the clamping device.

[0094] According to the ore image information obtained by the visual sensor, the image segmentation algorithm is used to separate the ore from the background and extract the contour features of the ore. Then, the 3D model of the ore is constructed through the 3D reconstruction algorithm to calculate the ore's volume, center of gravity and other physical parameters.

[0095] At the same time, combined with the friction data measured by the mechanical sensor, the friction coefficient calculation formula is used for calculation, the formula is as follows:

[0096] ;

[0097] in, is the friction coefficient, is the friction force, is the positive pressure, where the positive pressure is approximately equal to the clamping force, and the friction coefficient between the ore and the clamping arm 501 is calculated, so as to further analyze the material characteristics of the ore;

[0098] Regarding the optimization calculation of the clamping force, the optimal clamping force is calculated based on the weight, volume, shape, friction coefficient and other parameters of the ore using the principle of mechanical balance to ensure that the ore will neither slip nor be damaged due to excessive clamping force during the clamping process; the calculation formula is as follows:

[0099] ;

[0100] in, is the optimal clamping force (N), is the mass of ore (kg), is the acceleration due to gravity (9.8 ), is the friction coefficient, It is the safety factor (generally 1.2-1.5, determined according to the stability of the ore and the mining environment).

[0101] In this embodiment, a fault diagnosis and early warning module is also provided, which is specifically as follows:

[0102] A fault diagnosis model based on sensor data is established. By real-time monitoring of the mechanical parameters (such as clamping force, friction force), position parameters, and pressure and flow of the hydraulic system of the clamping device, a comparative analysis is performed with the parameter range under normal working conditions. When a parameter exceeds the preset threshold range, the expert system algorithm is used to perform fault diagnosis to determine the fault type and possible causes of the fault. For example, if the clamping force suddenly drops and the hydraulic system pressure is normal, it may be that the pressure sensor on the clamping arm 501 is faulty; if the hydraulic system pressure increases abnormally and the flow decreases, it may be that the hydraulic pipeline is blocked. Once a fault is diagnosed, a fault warning signal is immediately generated, and the fault information is sent to the monitoring center of the mine.

[0103] Among them, control instructions can also be generated according to the clamping force optimization calculation results and fault diagnosis conditions. The control instructions include opening control instructions for the hydraulic solenoid valve in the hydraulic pipeline of the first hydraulic cylinder 30 to adjust the size of the clamping force; the control instructions are in the form of digital signals and are sent to the actuator drive module through the communication interface.

[0104] The design of the actuator drive module is as follows:

[0105] After receiving the control command, the drive circuit controls the opening of the hydraulic solenoid valve in the hydraulic pipeline of the first hydraulic cylinder 30 according to the command. Pulse width modulation (PWM) technology is used to control the ratio of the power-on time and the power-off time of the solenoid valve, so as to accurately adjust the flow and pressure of the hydraulic oil and realize precise control of the clamping force. For example, when the clamping force needs to be increased, the duty cycle of the PWM signal is increased to increase the opening of the solenoid valve, increase the flow of hydraulic oil, and push the clamping arm 501 to clamp the ore; conversely, the duty cycle of the PWM signal is reduced to reduce the clamping force.

[0106] In summary, in this embodiment, a complete sensor network and data acquisition and transmission system are constructed, which can monitor the various parameters of the clamping device in real time, and establish a fault diagnosis model based on sensor data, so as to realize the timely discovery, accurate diagnosis and early warning of equipment faults, solve the lag problem of traditional clamping devices in fault monitoring and processing, reduce the equipment downtime and maintenance time, improve the continuity and production efficiency of mining operations, and realize the full intelligent operation from ore characteristic analysis, clamping force optimization calculation to fault diagnosis and control instruction generation, significantly improve the intelligence level of ore clamping devices, meet the requirements of automation and intelligence of modern mining operations, and reduce the intensity of manual operation and the risk of human error. Because the clamping force can be accurately controlled, the damage to the ore caused by excessive clamping force is avoided, so that the loss of ore during mining and transportation is greatly reduced. Accurate clamping force control and real-time fault diagnosis and early warning functions significantly reduce the probability of safety accidents such as ore slippage. At the same time, timely measures can be taken when equipment fails, which ensures the safety of on-site operators and equipment and reduces casualties and property losses caused by safety accidents.

[0107] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0108] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A grabbing manipulator for open-pit mining, comprising a first shell (10) and a second shell (20), wherein a connecting column (101) is fixedly connected to the bottom of the first shell (10), and the connecting column (101) is fixedly connected to the second shell (20), characterized in that: The bottom of the second shell (20) is an open structure. A first fixing plate (405) is provided inside the second shell (20). The first fixing plate (405) is fixedly connected to the outside of the first fixing plate (405). The first connecting plate (406) is fixedly connected to the inside of the second shell (20). The bottom of the first fixing plate (405) is fixedly connected to multiple groups of mounting frames (4012). The outside of the mounting frames (4012) is rotatably connected to a rotating rod (4013). The outside of the rotating rod (4013) is fixedly connected to a rotating arm (50). The outside of the rotating arm (50) is fixedly connected to a connecting block (506). A clamping arm (501) is provided at the bottom of the connecting block (506). A synchronous control component is provided above the connecting block (506). The synchronous control component is used to control the synchronous vertical movement of the clamping arm (501). A driving component is provided inside the first shell (10). The driving component is used to drive the multiple groups of rotating arms (50) to rotate synchronously.

2. A grabbing manipulator for open-pit mining according to claim 1, characterized in that: The rotating rod (4013) is fixedly connected to at least one set of second gears (4014) on the outside, a second rack (409) is provided above the second gear (4014), the second rack (409) is fixedly connected to the outside of a sliding frame (408), the sliding frame (408) is fixedly connected to the outside of a slide plate (407), both sides of the slide plate (407) corresponding to the top of the first fixed plate (405) are fixedly connected to limit bars (404), and the top of the second shell (20) is rotatably connected to a rotating disk (40), The rotating disk (40) is externally hinged with a plurality of connecting rods (401), one end of the connecting rod (401) is rotatably connected to a pin shaft (402), the bottom of the pin shaft (402) is rotatably connected to a sliding rod (4016), the bottom of the sliding rod (4016) is fixedly connected to a sliding column (403), the sliding column (403) is fixedly connected to a sliding plate (407), and a sliding hole (201) is provided at a position of the pin shaft (402) corresponding to the top of the second shell (20), and the pin shaft (402) is slidably connected to the sliding hole (201).

3. A grabbing manipulator for open-pit mining according to claim 2, characterized in that: The mounting frame (4012) is fixedly connected to a fixing frame (4010) on the outside, a sliding block (4011) is fixedly connected to the bottom of the fixing frame (4010), a sliding groove (4015) is provided on the top of the second rack (409), and the sliding block (4011) is slidably connected to the sliding groove (4015).

4. A grabbing manipulator for open-pit mining according to claim 3, characterized in that: The driving assembly comprises a first hydraulic cylinder (30) fixedly connected in a first housing (10) and a first rack (301) fixedly connected to an output end of the first hydraulic cylinder (30); a rotating shaft (303) is rotatably connected in the first housing (10); a first gear (302) is fixedly connected to the outside of the rotating shaft (303); and the rotating shaft (303) is coaxially fixedly connected to a rotating disk (40).

5. A grabbing manipulator for open-pit mining according to claim 4, characterized in that: The synchronous control assembly comprises a nut block (505) rotatably connected to the top of the connecting block (506), a bevel gear (5011) fixedly connected to the top of the nut block (505), and a conical ring (701) arranged below the second housing (20); a threaded column (504) is threadedly connected in the nut block (505); the threaded column (504) passes through the connecting block (506) and is fixedly connected to the clamping arm (501); the top of the threaded column (504) is fixedly connected to a second connecting plate (509); the bottom of the second connecting plate (509) is fixedly connected to the second connecting plate (509); The first housing (10) is fixedly connected to a limit rod (507), the limit rod (507) passes through the connecting block (506), the bottom of the conical ring (701) is provided with conical teeth (707), the outside of the first housing (10) is fixedly connected to a second hydraulic cylinder (7010), the output end of the second hydraulic cylinder (7010) is fixedly connected to a lifting ring (70), the bottom of the lifting ring (70) is provided with an annular groove (705), an annular strip (706) is slidably connected in the annular groove (705), and the annular strip (706) is fixedly connected to the conical ring (701).

6. A grabbing manipulator for open-pit mining according to claim 5, characterized in that: The outside of the lifting ring (70) is fixedly connected to a motor (708), the output end of the motor (708) is fixedly connected to a third gear (709), the outside of the conical ring (701) is fixedly connected to a gear ring (702), and the gear meshes with the gear ring (702).

7. A grabbing manipulator for open-pit mining according to claim 6, characterized in that: A first spring (508) is sleeved on the exterior of the limiting rod (507), and the bottom of the clamping arm (501) is fixedly connected to the limiting plate (502).

8. A grabbing manipulator for open-pit mining according to claim 7, characterized in that: The bottom of the connection block (506) is fixedly connected to an iron plate (503), and the bottom of the limit rod (507) is fixedly connected to an electromagnet (5010), and the electromagnet (5010) is in contact with the iron plate (503).

9. A grabbing manipulator for open-pit mining according to claim 8, characterized in that: A sliding sleeve (60) is provided above the connecting block (506). The sliding sleeve (60) is an annular structure. The sliding sleeve (60) is sleeved on the outside of the nut block (505). A magnet ring (601) is fixedly connected to the top of the sliding sleeve (60). A second spring (603) is connected between the sliding sleeve (60) and the connecting block (506).

10. A grabbing manipulator for open-pit mining according to claim 9, characterized in that: The outside of the sliding sleeve (60) is fixedly connected to an extension plate (602), the outside of the lifting ring (70) is fixedly connected to a second fixing plate (703), the bottom of the second fixing plate (703) is fixedly connected to a resistance column (704), and the resistance column (704) corresponds to the extension plate (602).

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