A grabbing manipulator for open-pit mining

Abstract

The present invention relates to the technical field of manipulators, and specifically discloses a grabbing manipulator for open-pit mining, comprising a first shell and a second shell, wherein the bottom of the first shell is fixedly connected to 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 to a first connecting plate, the first connecting plate is fixedly connected to the inside of the second shell, and the bottom of the first fixing plate is fixedly connected to multiple groups of mounting frames. By setting a driving component, the rotating arm and the clamping arm can be controlled to rotate, thereby clamping the ore, and by setting a synchronous control component, when encountering larger ore, the clamping arm can be controlled to move downward, thereby adjusting a larger clamping space, facilitating further clamping of larger ore, and meeting the actual use of mine mining.

Description

Technical Field

[0001] The present 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 excavate and transport the ore, and there are also methods of installing a clamping manipulator on the excavator's mechanical arm to transport the ore by clamping.

[0003] In the prior art, the jaws of manipulators used for ore clamping are mostly fixed in size, so the opening and closing angles, as well as the clamping space, are also fixed. Therefore, when encountering larger ores (exceeding the clamping range of the manipulator itself), they cannot be clamped and transported.

[0004] After searching, the 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, which leads to the technical problems mentioned above. Summary of the Invention

[0006] In view of the technical problem that in the existing technology, the manipulators used for clamping ore mostly have fixed jaw sizes, so the opening and closing angles, as well as the clamping space are all fixed, resulting in the inability to clamp and transport larger ores (exceeding the clamping range of the manipulator itself). The present invention provides a gripping 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 to 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 to 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 to multiple groups of mounting frames, the outside of the mounting frames is rotatably connected to a rotating rod, the outside of the rotating rod is fixedly connected to a rotating arm, the outside of the rotating arm is fixedly connected to 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, 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 set of second gears is fixedly connected to the outside of the rotating rod, a second rack is provided above the second gear, the outside of the second rack is fixedly connected to a sliding frame, the outside of the sliding frame is fixedly connected to a slide, the top of the first fixed plate corresponds to both sides of the slide fixedly connected to a limiting bar, the top of the second shell is rotatably connected to a turntable, the outside of the turntable is hinged with multiple sets of connecting rods, 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, and 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 the outside of the mounting frame is fixedly connected to a fixing frame, the bottom of the fixing frame is fixedly connected to a slider, the top of the second rack is provided with a slide groove, and the slider is slidably connected to the slide groove.

[0010] The present invention is further configured such that the drive assembly includes a first hydraulic cylinder fixedly connected to a first housing and a first rack fixedly connected to an output end of the first hydraulic cylinder; a rotating shaft is rotatably connected to 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, 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 to a second connecting plate, the bottom of the second connecting plate is fixedly connected to 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 to a second hydraulic cylinder, the output end of the second hydraulic cylinder is fixedly connected to 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 the outside of the lifting ring is fixedly connected to a motor, the output end of the motor is fixedly connected to a third gear, the outside of the conical ring is fixedly connected to a gear ring, and the gear is meshed 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 the bottom of the clamping arm is fixedly connected to a limiting plate.

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

[0015] The present invention is further configured such that a sliding sleeve is provided above the connecting block, the sliding sleeve is an annular structure, the sliding sleeve is provided on the outside of 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 the outside of the sliding sleeve is fixedly connected to an extension plate, the outside of the lifting ring is fixedly connected to a second fixed plate, the bottom of the second fixed plate is fixedly connected to a resistance column, and the resistance 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, thereby clamping the ore. By setting the synchronous control component, when encountering larger ore, the clamping arm can be controlled to move downward, thereby adjusting a larger clamping space, facilitating further clamping of larger ore, and meeting the actual use of mine 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 size of ore is encountered, the lifting ring and the conical ring are driven downward by the second hydraulic cylinder, so that the conical 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 conical ring to rotate. The conical ring drives the bevel gear to rotate through the conical 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 ores.

[0021] 4. In the present invention, after the lifting ring moves downward, the interference column will interfere with 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 interference column no longer interferes with 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, adsorbing and fixing the bevel gear, 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 the 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 instruction generation, significantly improving the intelligence level of the ore clamping device. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0024] Figure 2 This is a schematic diagram of the structure of the lifting ring after it descends in the present invention;

[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 This 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 Schematic diagram of the external structure of the first fixing plate in the present invention;

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

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

[0033] Figure 11 It is a structural schematic diagram of the clamping arm in the present invention;

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

[0035] Figure 13 It is a structural schematic diagram of the sliding sleeve in the present invention;

[0036] Figure 14 Schematic diagram of the bottom structure of the sliding sleeve in the present invention;

[0037] Figure 15 It is a schematic structural diagram of the lifting ring and the tapered ring in the present invention;

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

[0039] Figure 17 Schematic diagram of the bottom structure of the conical ring in the present invention;

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

[0041] The following are marked in the figure:

[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; 403. Sliding column; 404. Limiting 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. Interference column; 705. Annular groove; 706. Annular bar; 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 terms "front", "up", "down", "left", "right", "vertical", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

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

[0051] Example 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 the bottom of the first shell 10 is fixedly connected to a connecting column 101, 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, multiple sets of mounting frames 4012 are fixedly connected to the bottom of the first fixed plate 405, the external rotation of the mounting frames 4012 is connected to a rotating rod 4013, the external fixed connection of the rotating rod 4013 is connected to a rotating arm 50, the external fixed connection of the rotating arm 50 is connected to a connecting block 506, and a clamping arm 501 is provided at the bottom of the connecting block 506, which is used to clamp 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 below the second shell 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 to 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 engage with the bevel gear 5011 to drive the bevel gear 5011 to rotate, and a second hydraulic cylinder 7010 is fixedly connected to the outside of the first shell 10, and the output end of the second hydraulic cylinder 7010 is fixedly connected to the lifting ring 70, and the bottom of the lifting ring 70 is provided with an annular groove 705, 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 engaged with the gear ring 702, and the third gear 709 is driven to rotate by the motor 708. The third gear 709 is engaged 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 is guided by the limiting rod 507 to drive the threaded column 504 to move downward. 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 and is sleeved on the outside of the nut block 505. The top of the sliding sleeve 60 is fixedly connected to 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 to an extension plate 602. The outside of the lifting ring 70 is fixedly connected to a second fixed plate 703. The bottom of the second fixed plate 703 is fixedly connected to 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 elastic force of the second spring 603, the magnet ring 601 is adsorbed on the bottom of the bevel gear 5011, thereby adsorbing and fixing the nut block 505. 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 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.

[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 the sliding frame 408, the outside of the sliding frame 408 is fixedly connected to the slide 407, and the top of the first fixed plate 405 corresponds to both sides of the slide 407 fixedly connected with the limiting strips 404, the limiting strips 404 are used to limit and guide the slide 407, and the slide 407 is used to drive the slide 408 to slide.

[0064] Among them, a turntable 40 is rotatably connected to the top of the second shell 20, and multiple groups of connecting rods 401 are hinged on the outside of the turntable 40. One end of the connecting rod 401 is rotatably connected to a pin shaft 402, and the bottom of the pin shaft 402 is rotatably connected to a slide rod 4016. The bottom of the slide rod 4016 is fixedly connected to a slide column 403, and the slide column 403 is fixedly connected to the slide plate 407. The position of the pin shaft 402 at the top of the second shell 20 is provided with a sliding hole 201, and the pin shaft 402 slides Connected to 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, and the sliding rod 4016 drives the slide plate 407 to rotate toward the center of the turntable 40 through the sliding column 403. 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 turntable 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 rotated 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 402 to slide, 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. 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, and 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 usage method 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. 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 drives the turntable 40 to rotate through the rotating shaft 303. 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. After the slide plate 407 slides, it drives the second rack 409 to drive the second gear 4014 to rotate. 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.

[0069] Then, through the operation of the excavator, multiple sets 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 to slide the slide plate 407 outward, so that the ore is clamped and fixed by the clamping arms 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. Subsequently, the motor 708 is started to drive the third gear 709 to rotate. 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. The nut block 505 carried by the bevel gear 5011 rotates. After the nut block 505 rotates, it is guided by the limiting rod 507 to drive the threaded column 504 to move downward. The threaded column 504 drives the clamping arm 501 to move downward, thereby increasing the length of the clamping arm 501 and facilitating further clamping of larger ores.

[0071] In addition, after the lifting ring 70 moves downward, the abutment post 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 no longer 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 interference column 704 no longer interferes with 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] Example 2:

[0076] This embodiment is different from the first embodiment in that, in this embodiment, an iron plate 503 is fixedly connected to the bottom of the connecting block 506 , and 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 to 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] Example 3:

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

[0081] The control and monitoring system primarily consists of a sensor module, a data acquisition and transmission module, a data analysis and processing module, a control instruction generation module, and an actuator drive module. These 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 clamping arm 501 to measure the clamping force when holding the ore. This strain gauge pressure sensor operates based on the resistance-strain effect. When pressure acts on the sensor's elastic element, the resistance of the strain gauge changes. By measuring this change in resistance and using a pre-calibrated resistance-pressure curve, the clamping force can be accurately calculated. The sensor has a measurement range of 0-500kN and an accuracy of ±0.5% FS (full scale).

[0084] A friction sensor is installed on the surface of the clamping arm 501 in contact with the ore to measure the friction during the clamping process. This sensor operates based on the piezoelectric effect. When friction acts on the sensor's sensitive element, it generates a charge signal. A charge amplifier converts this charge signal into a voltage signal, which is then calculated based on a calibrated voltage-friction curve. The measurement range is 0-100 kN, with an accuracy of ±1% FS.

[0085] A high-definition industrial camera is also installed on the exterior of the device (e.g., the first housing 10 or the second housing 20) as a visual sensor to capture images of the ore. With a resolution of at least 20 megapixels and a frame rate of at least 30 fps, the camera can clearly capture the ore's shape, size, texture, and other characteristics. By processing the captured ore images using an image recognition algorithm, geometric parameters such as the ore's 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. This rotary encoder utilizes a photoelectric principle, converting the mechanical rotation angle into a pulse signal through photoelectric conversion. The position of the clamping arm 501 is calculated based on the number of pulses. Its resolution reaches 0.1°, with a measurement accuracy of ±0.05°, meeting the high-precision position control requirements of the clamping device.

[0087] 2. Data collection and transmission mode:

[0088] The data acquisition card utilizes a high-speed, multi-channel data acquisition card with a sampling frequency exceeding 1kHz, capable of simultaneously acquiring signals from force sensors, visual sensors, and position sensors. The acquisition card converts analog sensor output signals (such as the voltage signal from a pressure sensor or the charge signal from a friction sensor) into digital form with a precision of at least 16 bits, and transmits the converted digital signals to the data processing unit.

[0089] Data transmission uses a combination of Industrial Ethernet and wireless Wi-Fi. At mining sites, when devices are close together and the network environment is stable, Industrial Ethernet is preferred for data transmission to ensure high speed and reliability. When devices are in motion or in areas with inconvenient network cabling, wireless Wi-Fi is used for data transmission. Encryption protocols, such as SSL / TLS, are used during data transmission to ensure data security and integrity.

[0090] Received sensor data is filtered to remove noise. For pressure and friction sensor data, a mean filter algorithm is used. This continuously collects multiple data points and calculates their average value as valid data to reduce data fluctuations. For image data acquired by the vision sensor, a median filter algorithm is used to effectively remove salt and pepper noise and improve image quality.

[0091] Normalize the data to convert sensor data of different ranges and units to a unified standard scale to facilitate subsequent data analysis and calculations. For example, normalize the clamping force data to a value between 0 and 1, and convert the position data to relative coordinates 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 image data captured by the vision sensor, a median filter algorithm is used to effectively remove salt and pepper noise from the image, improving image quality. The data is also normalized, converting sensor data of varying ranges and units to a unified standard scale to facilitate subsequent data analysis and calculations. For example, gripping force data is normalized to a value between 0 and 1, and position data is converted to relative coordinates relative to the initial position of the gripper.

[0094] Based on the ore image information captured by the visual sensor, an image segmentation algorithm is used to separate the ore from the background and extract the ore's contour features. Then, a 3D reconstruction algorithm is used to construct a 3D model of the ore and calculate its physical parameters such as volume and center of gravity.

[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 to further analyze the material properties 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, 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, specifically as follows:

[0102] A fault diagnosis model based on sensor data is established. By monitoring the clamping device's mechanical parameters (such as clamping force and friction), position parameters, and hydraulic system parameters such as pressure and flow in real time, the model compares and analyzes these parameters against the normal operating range. When a parameter exceeds a preset threshold, an expert system algorithm is used to diagnose the fault, determining the fault type and possible cause. For example, if the clamping force suddenly drops while the hydraulic system pressure is normal, a fault may be caused by the pressure sensor on the clamping arm 501. If the hydraulic system pressure increases abnormally while the flow rate decreases, a blockage in the hydraulic line may be the cause. Once a fault is diagnosed, a fault warning signal is immediately generated, and the fault information is transmitted to the mine's monitoring center.

[0103] Control instructions can also be generated based on the clamping force optimization calculation results and fault diagnosis. These instructions include opening control instructions for the hydraulic solenoid valve in the hydraulic pipeline of the first hydraulic cylinder 30 to adjust the clamping force. These control instructions are sent to the actuator drive module in the form of digital signals via the communication interface.

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

[0105] After receiving the control command, the driver circuit controls the opening of the hydraulic solenoid valve in the hydraulic circuit of the first hydraulic cylinder 30 according to the command. Pulse-width modulation (PWM) technology is used to control the ratio of the solenoid valve's energized and de-energized time, thereby precisely regulating the flow and pressure of the hydraulic oil and achieving precise control of the clamping force. For example, to increase the clamping force, the duty cycle of the PWM signal is increased, widening the solenoid valve opening and increasing the flow of hydraulic oil, pushing the clamping arm 501 to clamp the ore. Conversely, the duty cycle of the PWM signal is reduced, reducing the clamping force.

[0106] In summary, this embodiment constructs a comprehensive sensor network and data acquisition and transmission system capable of real-time monitoring of various clamping device parameters and establishing a fault diagnosis model based on sensor data. This enables timely detection, accurate diagnosis, and early warning of equipment faults, resolving the lag problem of fault monitoring and handling in traditional clamping devices, reducing equipment downtime for repairs, and improving the continuity and production efficiency of mining operations. Furthermore, it achieves fully intelligent operation, from ore property analysis and clamping force optimization calculation to fault diagnosis and control command generation. This significantly enhances the intelligence level of the ore clamping device, meets the automation and intelligence requirements of modern mining operations, and reduces manual operation intensity and the risk of human error. The ability to precisely control the clamping force avoids damage to the ore caused by excessive clamping force, significantly reducing ore loss during mining and handling. Accurate clamping force control and real-time fault diagnosis and early warning capabilities significantly reduce the probability of safety accidents such as ore slippage. Furthermore, timely measures can be taken in the event of equipment failure, ensuring the safety of on-site operators and equipment, and reducing casualties and property losses caused by safety accidents.

[0107] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the 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 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 in the second shell (20). The first fixing plate (405) is fixedly connected to the outside of the first fixing plate (405) with a first connecting plate (406). 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). The bottom of the connecting block (506) is provided with a clamping arm (501). 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 in the first shell (10). The driving component is used to drive the multiple groups of rotating arms (50) to rotate synchronously. The synchronous control assembly 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 below the second housing (20), wherein the nut block (505) is threadedly connected to a threaded column (504), 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), and the second connecting plate (509) is fixedly connected to the top of the threaded column (504). The bottom is fixedly connected to a limiting rod (507), the limiting rod (507) passes through the connecting block (506), the bottom of the conical ring (701) is provided with a conical tooth (707), the outside of the first shell (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); 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 is meshed with the gear ring (702); A sliding sleeve (60) is provided above the connecting block (506), the sliding sleeve (60) being an annular structure, and 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), and 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 to an extension plate (602), the outside of the lifting ring (70) is fixedly connected to a second fixed plate (703), the bottom of the second fixed plate (703) is fixedly connected to a resistance column (704), and the resistance column (704) corresponds to the extension plate (602).

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 (407), both sides of the slide (407) corresponding to the top of the first fixed plate (405) are fixedly connected to limiting bars (404), and the top of the second shell (20) is rotatably connected to a turntable (40), The turntable (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 slide rod (4016), the bottom of the slide rod (4016) is fixedly connected to a slide column (403), the slide column (403) is fixedly connected to a slide plate (407), and a sliding hole (201) is provided at the 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, the fixing frame (4010) is fixedly connected to a slider (4011) at the bottom, a sliding groove (4015) is provided at the top of the second rack (409), and the slider (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 to 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 to 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 the rotating disk (40).

5. A grabbing manipulator for open-pit mining according to claim 4, characterized in that: The outer portion of the limiting rod (507) is sleeved with a first spring (508), and the bottom of the clamping arm (501) is fixedly connected to the limiting plate (502).

6. A grabbing manipulator for open-pit mining according to claim 5, characterized in that: The bottom of the connecting block (506) is fixedly connected to an iron plate (503), and the bottom of the limiting rod (507) is fixedly connected to an electromagnet (5010), and the electromagnet (5010) is in conflict with the iron plate (503).

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