Self-adaptive variable-load gangue selecting and shifting manipulator

Abstract

The invention discloses a self-adaptive variable-load gangue selecting and shifting manipulator, and belongs to the technical field of gangue selecting. The variable-load distance adjusting device is installed on the lifting mechanism, the upper ends of the multiple buffering shifting hands are connected with the variable-load distance adjusting device in a sliding mode, the multiple buffering shifting hands can be driven to horizontally move through vertical movement of the variable-load distance adjusting device, and therefore the distance between the multiple buffering shifting hands is adjusted. The variable-load distance adjusting device is applied to select the original sorting state, the first sorting mode and the second sorting mode for combined sorting according to the gangues of different sizes and shapes, the self-adaptability of the gangue selecting and shifting manipulator to different gangues is further improved, and the sorting efficiency is improved. The effect of adjusting different working modes of the gangue selecting and shifting manipulator according to the gangue form is achieved; by applying the buffering pusher dog structure, the buffering pusher provided with the compression spring, the short shifting plate and the long shifting plate structure can be designed for solving the problem that when the gangue selecting and shifting manipulator collides with gangue, rigid impact is large, and therefore the buffering effect is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal refuse separation, and particularly relates to an adaptive variable load coal refuse separation and stripping manipulator. Background Art

[0002] In the coal refuse sorting site, if manual sorting is adopted, there will be problems such as high labor intensity and low efficiency. Moreover, long-term coal refuse separation operations will pose a threat to the health of workers, which does not meet the requirements of the green development of coal mines. Therefore, in the coal field, intelligent coal refuse separation robots are widely used, and the sorting part is the key to coal refuse separation technology.

[0003] However, currently, the structure of the sorting manipulator of existing coal refuse separation robots still has problems of poor adaptability and large rigid impact. Summary of the Invention

[0004] The present invention aims to solve the technical problems of poor adaptability and large rigid impact of the coal refuse separation and stripping manipulator, and further provides an adaptive variable load coal refuse separation and stripping manipulator. Through the structure of the variable load distance adjustment device and the buffer stripping hand, it can adapt to coal refuse of different sizes and shapes, and reduce the rigid impact caused by the collision of coal refuse.

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

[0006] An adaptive variable load coal refuse separation and stripping manipulator, comprising a lifting mechanism, a variable load distance adjustment device, a plurality of buffer stripping hands and an L-shaped interception device; the L-shaped interception device is fixed at the end of the truss-type robotic arm, the lifting mechanism is installed on the L-shaped interception device, the variable load distance adjustment device is installed on the lifting mechanism, the upper ends of the plurality of buffer stripping hands are slidably connected to the variable load distance adjustment device, and the up and down movement of the variable load distance adjustment device can drive the plurality of buffer stripping hands to move horizontally, so as to adjust the distance between the plurality of buffer stripping hands.

[0007] The present invention has the following beneficial effects compared with the prior art:

[0008] The present invention applies the variable load distance adjustment device to be able to select the original state, mode one and mode two for combined sorting for coal refuse of different sizes and shapes, further improving the adaptability of the coal refuse separation and stripping manipulator to different coal refuse, and achieving the effect of adjusting different working modes of the coal refuse separation and stripping manipulator according to the shape of the coal refuse;

[0009] The present invention applies the buffer stripping claw structure to be able to design a buffer stripping hand with a compression spring, a short stripping plate and a long stripping plate structure for the problem of large rigid impact when the coal refuse separation and stripping manipulator collides with coal refuse, thereby achieving the buffering effect and solving the problem that the coal refuse separation and stripping manipulator and coal refuse cause rigid impact during the sorting process, resulting in damage to the manipulator and reducing its service life. Description of the Drawings

[0010] Figure 1 It is a schematic plan view of the variable load distance adjustment device of the present invention;

[0011] Figure 2 It is a schematic side view of the buffer pusher of the present invention;

[0012] Figure 3 It is a schematic diagram of the plane force analysis of the compression spring of the present invention;

[0013] Figure 4 It is a schematic structure of the present invention Figure 1 ;

[0014] Figure 5 It is a schematic structure of the present invention Figure 2 ;

[0015] Figure 6 It is a schematic plan view of the original state of the present invention;

[0016] Figure 7 It is a schematic plan view of the state of Mode 1 of the present invention;

[0017] Figure 8 It is a schematic plan view of the state of Mode 2 of the present invention;

[0018] Wherein: 1. Truss manipulator; 2. Motor; 3. Front baffle; 4. First positioning seat; 5. First short guide rail; 6. First positioning slider; 7. First limit connecting plate; 8. Variable load distance adjustment device; 8-1. Variable load distance adjustment groove 1; 8-2. Variable load distance adjustment groove 2; 8-3. Variable load distance adjustment groove 3; 8-4. Variable load distance adjustment groove 4; 8-5. Variable load distance adjustment groove 5; 9. Pulley; 10. Z-shaped connecting rod; 11. Buffer pusher; 11-1. Buffer pusher 1; 11-2. Buffer pusher 2; 11-3. Buffer pusher 3; 11-4. Buffer pusher 4; 11-5. Buffer pusher 5; 12. L-shaped intercepting device; 13. Long dial plate; 14. Short dial plate; 15. Compression spring; 15-1. Compression spring 1; 15-2. Compression spring 2; 15-3. Compression spring 3; 15-4. Compression spring 4; 15-5. Compression spring 5; 16. Cross beam; 17. Second short guide rail; 18. Second positioning slider; 19. Second positioning seat; 20. Second limit connecting plate; 21. Guide rod; 22. Long guide rail; 23. Distance adjustment slider; 24. Rectangular connecting plate; 25. First triangular connecting plate; 26. First support plate; 27. Second convex connecting device; 28. Second triangular connecting plate; 29. Second support plate; 30. Lead screw positioning seat; 31. Lead screw; 32. First convex connecting device; 33. Straight slot; 34. Fixing device. Detailed implementation manners

[0019] To better understand the purpose, structure and function of the present invention, the following further describes the present invention in detail with reference to the accompanying drawings.

[0020] As Figures 1 to 8 described, the present invention provides an adaptive variable load coal separation and stripping manipulator, including a lifting mechanism, a variable load distance adjustment device 8, a plurality of buffer paddles 11 and an L-shaped interception device 12; the L-shaped interception device 12 is fixed to the end of the truss-type robotic arm 1, the lifting mechanism is installed on the L-shaped interception device 12, the variable load distance adjustment device 8 is installed on the lifting mechanism, the upper ends of the plurality of buffer paddles 11 are slidably connected to the variable load distance adjustment device 8, and the up and down movement of the variable load distance adjustment device 8 can drive the plurality of buffer paddles 11 to move horizontally, so as to adjust the distance between the plurality of buffer paddles 11.

[0021] As Figure 1 shown, the variable load distance adjustment device 8 adopts a plate structure, and five variable load distance adjustment grooves are opened on the plate surface of the variable load distance adjustment device 8, namely variable load distance adjustment groove one 8-1, variable load distance adjustment groove two 8-2, variable load distance adjustment groove three 8-3, four variable load distance adjustment groove 8-4 and variable load distance adjustment groove five 8-5. Each of the five variable load distance adjustment grooves includes three position points, namely the first-level distance change starting point, the second-level distance change starting point, and the second-level distance change ending point. The first-level distance change starting points of the five variable load distance adjustment grooves are successively a 1 , a 2 , a 3 , a 4 , a 5 , the second-level distance change starting points b 1 , b 2 , b 3 , b 4 , b 5 , the second-level distance change ending points c 1 , c 2 , c 3 , c 4 , c 5 . The adjacent two points among the five first-level distance change starting points all adopt an equidistant structure, and the distance is l 1 ; the adjacent two points among the five second-level distance change starting points all adopt an equidistant structure, and the distance is l 2 ; the adjacent two points among the five second-level distance change ending points all adopt an equidistant structure, and the distance is l 3 ; five pulleys 9 are installed in the five variable load distance adjustment grooves. According to the movement requirements of the pulley follower, when working, the pulleys 9 move and expand simultaneously with the leftmost one in Figure 1 as the positioning reference, keeping the distance between adjacent pulleys 9 equal, and the distance change ranges are respectively l 1 ~l 2 , l 2 ~l3 , so the self-displacement change of each pulley 9 when the distance between them is adjusted from the minimum to the maximum is as follows:

[0022] Self-displacement change of pulley 9 in the first stroke:

[0023] s = (l 2 - l 1 )(n - 1)(1 - 1)

[0024] Self-displacement change of pulley 9 in the second stroke:

[0025] s = (l 3 - l 2 )(n - 1)(1 - 2)

[0026] Where n is the number of pulleys 9 participating in the distance adjustment, 1 ≤ n ≤ 5, rounded;

[0027] s is the self-displacement change of the pulley;

[0028] When the variable load distance adjustment device 8 moves a distance of h, that is, the variable load distance adjustment device 8 moves linearly by h, and it is divided into two strokes h 1 and h 2 , the two stroke distances are equal. In the first stroke, the self-displacement changes of the pulleys 9 from left to right are s 1 , s 2 , s 3 , s 4 , s 5 , and it is ensured that the maximum distance between adjacent pulleys 9 is l 2 , and the minimum distance is l 1 . In the second stroke, the self-displacement changes of the pulleys 9 from left to right are s 6 , s 7 , s 8 , s 9 , s 10 , and it is ensured that the maximum distance between adjacent pulleys is l 3 , and the minimum distance is l 2 , and according to the trigonometric theorem, it is obtained that:

[0029] θ = arctan(h / s) (1 - 3)

[0030] Where θ is the angle between each variable load distance adjustment groove and the horizontal line;

[0031] h is the linear movement distance of the variable load distance adjustment device;

[0032] From the above formulas 1 - 1, 1 - 2, and 1 - 3, it can be obtained that:

[0033] The inclination angle θ of the first stroke is arctan(h 1 / (l2 -l 1 )(n - 1))(1 - 4)

[0034] The inclination angle θ of the second stroke is θ = arctan(h 2 / (l 3 -l 2 )(n - 1))(1 - 5)

[0035] Based on this, the contour shape of the variable - load distance - adjusting groove is determined, and then the transformation range of the self - adaptive variable - load coal - gangue separating manipulator is l 1 、l 2 、l 3 , solving the problem that the coal - gangue separating manipulator cannot adapt to the size of the coal gangue, achieving the effect that the self - adaptive variable - load coal - gangue separating manipulator can be adjusted according to the shape and size of the coal gangue, and further improving the applicability of the self - adaptive variable - load coal - gangue separating manipulator to coal gangue with various shapes. The working states of the self - adaptive variable - load distance - adjusting device are set in three types, namely the original state, mode one, and mode two.

[0036] In the original state, the pulley 9 connected to the buffer pusher 11 maintains a fixed position, that is, the horizontal straight line a 1 a 5 , and the extended distance of the buffer pusher 11 is a 1 a 5 . In this state, coal gangue with a size of 50 - 100 mm can be sorted;

[0037] In mode one, the motor 2 pushes the variable - load distance - adjusting device 8 up and down, so that the pulley 9 connected to the buffer pusher 11 moves to the position of the straight line b 1 b 5 , that is, the horizontal straight line b 1 b 5 , and the extended distance of the buffer pusher 11 is b 1 b 5 . In this state, coal gangue with a size of 100 - 200 mm can be sorted;

[0038] In mode two, the motor 2 continues to push the variable - load distance - adjusting device 8, so that the pulley 9 connected to the buffer pusher 11 moves to the position of the straight line c 1 c 5 , that is, the horizontal straight line c 1 c 5 , and the extended distance of the buffer pusher 11 is c 1 c 5 . In this state, coal gangue with a size of 200 - 300 mm can be sorted;

[0039] In three working states, the variable load distance adjustment groove 8-1 adopts a straight groove structure, and the variable load distance adjustment grooves 8-2, 8-3, 8-4 and 8-5 adopt a two-stage expansion structure. Moreover, ensuring that the starting point of the first-stage distance change, the starting point of the second-stage distance change and the end point of the second-stage distance change are equidistant, the original state, Mode 1 and Mode 2 in the three mode states can be adjusted and switched according to different sizes of gangue, so as to complete the sorting and separating work, achieving the good self-adaptability effect of the self-adaptive variable load gangue selection and separation manipulator.

[0040] As Figure 4 shown, a pulley 9 is installed at the upper end of each buffer pusher 11, and each pulley 9 is slidably installed in the variable load distance adjustment groove of the variable load distance adjustment device 8.

[0041] As Figure 2 、 Figure 3 shown, five compression springs 15 are installed on the front end face of each buffer pusher 11, namely compression spring 15-1, compression spring 15-2, compression spring 15-3, compression spring 15-4, compression spring 15-5. The compression spring 15-1 is fixedly connected to the inner point k 1 of the short push plate 14; the compression spring 15-2 is fixedly connected to the inner point k 2 of the short push plate 14; the compression spring 15-3 is fixedly connected to the inner point k 3 of the long push plate 13; the compression spring 15-4 is fixedly connected to the inner point k 4 of the long push plate 13; the compression spring 15-5 is fixedly connected to the inner point k 5 of the long push plate 13.

[0042] Therefore, to overcome inaccurate positioning and ensure that the buffer pusher 11 accurately separates the gangue, the following three conditions must be considered, namely:

[0043] (1) The structural dimensions of the buffer pusher 11 are such that the buffer pusher 11 does not directly contact the conveyor belt, and the distance from the conveyor belt is m;

[0044] (2) Sufficient clearance should be left between the long push plate 13 and the short push plate 14 to ensure that they do not collide with each other;

[0045] (3) The length p 1 of the short push plate 14 2 should be greater than the distance of n 1 -n 2 ; the length p 5 of the long push plate 13 3 should be greater than the distance of n

[0046] The arrangement position of the compression spring 15 of the buffer pusher 11 has the following geometric relationship expressed by the formula, where d 1 , d 2 , d 3 , d 4 are the particle sizes of the gangue; r 1 , r 2 , r 3 , r 4 are the radii of the gangue; n 1 , n 2 , n 3 , n 4 , n 5 are the heights of the five compression springs 15 from the bottom surface of the buffer pusher 11; p 1 is the length of the short push plate 14; p 2 is the length of the long push plate 13;

[0047] n 1 = r 1 - m(1 - 6)

[0048] n 2 = r 2 - m(1 - 7)

[0049] n 3 = r 3 - m(1 - 8)

[0050] n 4 = r 4 - m(1 - 9)

[0051] n 5 = 2r 4 - r 3 - m(1 - 10)

[0052] p 1 = n 2 + n 1 (1 - 11)

[0053] p 2 = n 5 - n 3 + 40 (1 - 12)

[0054] In the original state, taking the minimum and maximum ranges in the original state, the short push plate 14 at the front end of the buffer pusher 11 collides with the gangue. Points k 1 and k 2 are both designed at the positions when colliding with the gangue, and the collision range is n 3 . In this state, gangue with a size of 50 - 100 mm can be sorted to achieve the buffering effect;

[0055] In Mode 1 state, taking the maximum range of Mode 1, the long dial plate 13 at the front end of the buffer dial 11 collides with the gangue, k 4 Design the position at the time of collision with the gangue, and the collision range is d 3 -m. In this state, gangue with a size of 100 - 200 mm can be sorted;

[0056] In Mode 2 state, taking the maximum range of Mode 2, the long dial plate 13 at the front end of the buffer dial 11 collides with the gangue, k 5 Design at k 4 as the symmetric origin, relative to k 3 symmetric position, and the collision range is n 5 +20. In this state, gangue with a size of 200 - 300 mm can be sorted;

[0057] For the arrangement positions of compression spring 15 - 1, compression spring 15 - 2, compression spring 15 - 3, and compression spring 15 - 4, the collision force of the short dial plate 14 or the long dial plate 13 on the gangue can be decomposed into the normal force perpendicular to the collision surface and the tangential force along the tangent direction. The compression spring 15 absorbs the normal impact energy through elastic deformation, so as to achieve the effect of the compression spring 15 alleviating the tangential impact; for the arrangement position of the compression spring 15 - 5, it is symmetrically arranged. The compression spring 15 - 5 and the compression spring 15 - 3 are symmetric with respect to the compression spring 15 - 4. When symmetrically arranged, it can achieve the effect of preventing the gangue from deviating from the track due to unilateral force, reducing the eccentric load risk of the compression spring 15 - 4, and also avoiding the inclination or vibration amplification of the long dial plate 13.

[0058] Therefore, through the above formula, the arrangement position of the compression spring 15 at the end of the buffer dial 11 and the structural dimensions of the long dial plate 13 and the short dial plate 14 are determined, solving the problems of inaccurate positioning and large rigid impact during the separation of the separation - type gangue - selecting manipulator, and achieving the effect of stable sorting.

[0059] Regarding the force condition of the compression spring 15, the speed of the conveyor belt is set as v, the width of the conveyor belt is d, and the gangue is placed at the central position, then the moving distance of the gangue is s. The separation process is that the coal block starts from rest and does uniformly accelerated linear motion, and is separated within t, and the friction force with the conveyor belt is f. Given the initial velocity v of the coal block in the x - axis direction 0 , according to the kinematic and mechanical formulas:

[0060] The acceleration required for the gangue is, from the uniformly accelerated motion formula:

[0061] s = v 0 t + at 2 / 2 1 - 13

[0062] According to Newton's second law, the required net thrust is:

[0063] F 净 = ma 1-14

[0064] The frictional force direction of the conveyor belt on the object is opposite to the thrust force:

[0065] f = μmg 1-15

[0066] The total thrust force is such that it needs to overcome the frictional force and provide a net thrust force:

[0067] F 推 = F 净 + f 1-16

[0068] Spring coefficient calculation, calculated by Hooke's law as:

[0069] k = F 推 / x (1-17)

[0070] Spring buffer mechanism, obtained from elastic potential energy:

[0071] E p = kx 2 / 2 (1-18)

[0072] Momentum theorem:

[0073] F 冲 △t = m△v (1-19)

[0074] In the formula, F 冲 - Impact force;

[0075] x - Spring deformation;

[0076] △t - Spring action time;

[0077] Through the above formulas, the spring constant k of the compression spring 15 on the buffer pusher 11 and the thrust force required by the motor 2 can be obtained. According to the principle of conservation of momentum, the compression spring 15 absorbs part of the impact energy, reducing the direct impact and solving the problem of large rigid impact of the buffer pusher 11; according to the momentum theorem, it can be shown that by extending the action time, the instantaneous impact force is reduced to achieve a buffering effect.

[0078] As Figure 4 、 Figure 5 shown, the lifting device includes a lead screw lifting mechanism, a first limit connecting plate 7, a second limit connecting plate 20 and a cross beam 16; the variable load distance adjusting device 8 is respectively connected to the first limit connecting plate 7 and the second limit connecting plate 20 above, the first limit connecting plate 7 and the second limit connecting plate 20 are jointly connected to the cross beam 16 above, the cross beam 16 is connected to the lead screw lifting mechanism, and the lead screw lifting mechanism is installed on the horizontal plate surface of the L-shaped intercepting device 12.

[0079] AsFigure 4 , Figure 5 As shown in the figure, the lead screw lifting mechanism includes a first positioning slider 6, a second positioning slider 18, a first short guide rail 5, a second short guide rail 17, a first positioning seat 4, a second positioning seat 19, a lead screw positioning seat 30, a lead screw 31, and a motor 2;

[0080] The first limit connecting plate 7 is connected to the first convex connecting device 32, the second limit connecting plate 20 is connected to the second convex connecting device 27, the first convex connecting device 32 is connected to the first positioning slider 6, the second convex connecting device 27 is connected to the second positioning slider 18, the first positioning slider 6 is slidably connected to the first short guide rail 5, the second positioning slider 18 is slidably connected to the second short guide rail 17, the first short guide rail 5 is connected to the first positioning seat 4, the second short guide rail 17 is connected to the second positioning seat 19, and both the first positioning seat 4 and the second positioning seat 19 are fixedly connected to the horizontal plate surface of the L-shaped intercepting device 12;

[0081] The cross beam 16 is matched with the lead screw positioning seat 30, the lead screw positioning seat 30 is matched with the lead screw 31, the lead screw 31 is connected to the motor 2, which controls and pushes the variable load distance adjusting device 8 to adjust different modes. The motor 2 is connected to the rectangular connecting plate 24 through a threaded hole. The rectangular connecting plate 24 is connected to the front baffle 3 and fixedly connected to the L-shaped intercepting device 12. The left and right sides of the front baffle 3 are respectively connected with a first triangular connecting plate 25 and a second triangular connecting plate 28. The first triangular connecting plate 25 and the second triangular connecting plate 28 are fixedly connected below the rectangular connecting plate 24. The left and right sides of the front baffle 3 are connected to the first support plate 26 and the second support plate 29. Straight notch openings 33 for the up and down movement of the cross beam are provided inside the first support plate 26 and the second support plate 29.

[0082] As Figure 4 , Figure 5 shown, each pulley 9 is fixedly connected with a Z-shaped connecting rod 10. The lower end of each Z-shaped connecting rod 10 is connected to the corresponding buffer dial 11. There are five buffer dials 11, namely buffer dial one 11-1, buffer dial two 11-2, buffer dial three 11-3, buffer dial four 11-4, and buffer dial five 11-5;

[0083] The upper end of the buffer dial 11-1 is connected to the fixing device 34, and the fixing device 34 is connected to the horizontal plate surface of the L-shaped intercepting device 12. The buffer dial two 11-2, buffer dial three 11-3, buffer dial four 11-4, and buffer dial five 11-5 are respectively connected to four distance adjusting sliders 23. The four distance adjusting sliders 23 are slidably connected on the long guide rail 22. The long guide rail 22 is connected below the guide rod 21, and the guide rod 21 is fixedly connected to the L-shaped intercepting device 12.

[0084] Embodiment 1

[0085] AsFigure 1 and Figure 6 As shown in and

[0086] , the adaptive variable-load coal-gangue separating manipulator according to an embodiment of the present invention includes: a variable-load distance adjusting device 8, variable-load distance adjusting grooves, and pulleys 9. The variable-load distance adjusting device 8 is arranged at the end of the truss-type robotic arm 1. The variable-load distance adjusting device 8 is provided with five variable-load distance adjusting grooves, and pulleys 9 are installed in each of the variable-load distance adjusting grooves, and the five pulleys 9 are respectively slidably connected to the inner sides of the five variable-load distance adjusting grooves. The variable-load distance adjusting device 8 can solve the problem of different sizes of coal gangue and adapt to the size of coal gangue.

[0086] There are three positions set in the five variable-load distance adjusting grooves in the variable-load distance adjusting device 8, namely the first-stage distance adjusting starting point, the second-stage distance adjusting starting point, and the second-stage distance adjusting end point. The first-stage distance adjusting starting points of the five variable-load distance adjusting grooves are a 1 , a 2 , a 3 , a 4 , a 5 ; the second-stage distance adjusting starting points of the five variable-load distance adjusting grooves are b 1 , b 2 , b 3 , b 4 , b 5 ; the second-stage distance adjusting end points of the five variable-load distance adjusting grooves are c 1 , c 2 , c 3 , c 4 , c 5 .

[0087] When the variable-load distance adjusting device 8 is arranged at equal intervals, the distance l 1 between two adjacent points of the first-stage distance adjusting starting point is 25 mm; the distance l 2 between two adjacent points of the second-stage distance adjusting starting point is 50 mm; the distance l 3 between two adjacent points of the second-stage distance adjusting end point is 70 mm. When the moving distance h of the variable-load distance adjusting device 8 is 90 mm, that is, the variable-load distance adjusting device 8 moves linearly by 90 mm and is divided into two stroke lengths h 1 and h 2 , and both h 1 and h 2 are 45 mm. Therefore, according to formulas (1-1) to (1-5), it can be obtained that:

[0088] The displacement changes of the pulley 9 itself from left to right in the first stroke are s 1 = 0 mm, s 2 = 25 mm, s 3 = 50 mm, s 4 = 75 mm, s 5 = 100 mm, and it is ensured that the maximum distance between adjacent pulleys 9 is 50 mm and the minimum distance is 25 mm;

[0089] In the second stroke, the self-displacement changes of the pulley 9 from left to right are s 6 = 0 mm, s 7 = 20 mm, s 8 = 40 mm, s 9 = 60 mm, s 10 = 80 mm, and it is ensured that the maximum distance between adjacent pulleys 9 is 70 mm and the minimum distance is 50 mm.

[0090] When the variable load distance adjustment device 8 is arranged at equal intervals, the variable load distance adjustment groove 8-1 is always at an angle θ 1 、θ 6 with the horizontal line are both 90°;

[0091] The variable load distance adjustment groove 8-2 is at an angle θ 2 with the horizontal line at the starting point b 2 of the second-stage distance adjustment is 60.95°, and at the end point c 2 of the second-stage distance adjustment, the angle θ 7 with the horizontal line is 66.04°;

[0092] The variable load distance adjustment groove 8-3 is at an angle θ 3 with the horizontal line at the starting point of the second-stage distance adjustment is 41.99°, and at the end point c 3 of the second-stage distance adjustment, the angle θ 8 with the horizontal line is 48.37°;

[0093] The variable load distance adjustment groove 8-4 is at an angle θ 4 with the horizontal line at the starting point of the second-stage distance adjustment is 30.96°, and at the end point c 4 of the second-stage distance adjustment, the angle θ 9 with the horizontal line is 36.87°;

[0094] The variable load distance adjustment groove 8-5 is at an angle θ 5 with the horizontal line at the starting point of the second-stage distance adjustment is 24.23°, and at the end point c 5 of the second-stage distance adjustment, the angle θ 10 with the horizontal line is 29.36°.

[0095] When the variable load distance adjustment device 8 is arranged at equal intervals, the alternate use in three working states of the variable load distance adjustment realizes the separation of coal gangue, adapts to different shapes and sizes of gangue, prevents the manipulator from touching other coal blocks or gangue, and does not damage the position information of the conveyed objects.

[0096] Implementation Case 2

[0097] Such as Figure 2As shown in the figure, this buffer pusher 11 can adaptively buffer gangue of different particle sizes, solving the problem of large impact on the pusher during the sorting process. The height of the buffer pusher 11 design should be not less than 300 mm. To ensure the reliability of grasping, the height of the buffer claw is taken as 350 mm.

[0098] When the particle size of the gangue is within 50 - 100 mm, the motor remains in its original state. At this time, the short push plate 14 collides with the gangue, and the height of the short push plate 14 obtained according to formula (1 - 11) is 60 mm;

[0099] When the particle size of the gangue is within 200 - 300 mm, the motor 2 runs to mode one or mode two. At this time, the long push plate 13 collides with the gangue, and the height of the long push plate 13 obtained according to formula (1 - 12) is n 5 -n 3 +40 mm;

[0100] Since the working state of the gangue - selecting and separating manipulator with adaptive variable load of the present invention has three modes, three groups of gangue with different ranges can be sorted, namely 50 - 100 mm, 100 - 200 mm, and 200 - 300 mm. Therefore, d 1 、d 2 、d 3 、d 4 are 50 mm, 100 mm, 200 mm, and 300 mm respectively. Considering the actual situation, m is taken as 10 mm. According to formulas (1 - 6) to (1 - 10), the arrangement positions of the five compression springs can be obtained, that is:

[0101] n 1 = 15 mm;

[0102] n 2 = 40 mm;

[0103] n 3 = 90 mm;

[0104] n 4 = 140 mm;

[0105] n 5 = 190 mm;

[0106] Implementation Case 3

[0107] As Figure 3 shown, five identical compression springs 15 are arranged at the front end of the buffer pusher 11. The speed of the conveyor belt is 0.3 m / s, and the direction is the positive direction of the y - axis. The width of the conveyor belt is 0.8 m. The gangue is placed in the center of the conveyor belt, that is, the moving distance of the gangue is 0.4 m. The friction coefficient between the coal block and the conveyor belt in the east - west direction is taken as 0.2, the separation movement period is 1 s, the deformation of the compression spring 15 is 2 cm, and △t is taken as 0.1 s. Then:

[0108] When the particle size of the gangue is 300 mm, the weight of the gangue is taken as 25 kg;

[0109] The acceleration required for the gangue is obtained from the uniform acceleration motion formula: a = 0.8 m / s 2 ;

[0110] According to Newton's second law, the required net thrust is: F 净 = ma = 20 N;

[0111] The frictional force of the conveyor belt on the object (the direction is opposite to the thrust): f = μmg = 49 N;

[0112] The total thrust is to overcome the frictional force and provide the net thrust: F 推 = F 净 + f = 69 N;

[0113] The calculation of the coefficient of the compression spring 15 is calculated by Hooke's law as: k = F 推 / x = 345 N / m;

[0114] The elastic potential energy is: E p = kx 2 / 2 = 0.69 J;

[0115] The momentum theorem: F 冲 △t = m△v;

[0116] According to the momentum theorem, F 冲 = 200 N; it is obtained that when the action time of the spring increases, F 冲 decreases. Therefore, the motor 2 provides a thrust of 200 N, and the compression spring 15 with a stiffness of 3450 N / m is selected. The spring absorbs 0.69 J of impact energy, reducing the directly transmitted kinetic energy; by extending the action time, the peak value of the actual average impact force decreases, achieving the buffering effect;

[0117] When the particle size of the gangue is 200 mm, the weight of the gangue is taken as 7.5 kg. According to formulas (1-13) to (1-19), the required thrust of the motor 2 is 60 N; the elastic potential energy absorbed by the compression spring 15 is 0.69 J, and extending the action time can significantly reduce the instantaneous impact force.

[0118] When the particle size of the gangue is 100 mm, the weight of the gangue is taken as 1.3 kg. According to formulas (1-13) to (1-19), the required thrust of the motor 2 is 10.4 N. The elastic potential energy absorbed by the compression spring 15 is 0.69 J. Compared with the thrust of 69 N without the compression spring 15, the compression spring 15 can reduce the impact force, reflecting the redundant protection ability of the compression spring 15.

[0119] When the particle size of the gangue is 50 mm, the weight of the gangue is taken as 0.16 kg. According to formulas (1-13) to (1-19), the thrust of the required motor 2 is 1.28 N. The elastic potential energy absorbed by the compression spring 15 is 0.69 J. According to the kinetic energy theorem, the compression spring 15 reduces the peak impact force from 69 N to 1.28 N, and the buffering efficiency is remarkable.

[0120] Therefore, in this embodiment, the compression spring 15 with a specification of 3450 N / m in Mode 2 is selected to ensure the best buffering effect.

[0121] It can be understood that the present invention is described by means of some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. In addition, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. An adaptive variable load gangue separation manipulator, characterized in that: The invention comprises a lifting mechanism, a variable load distance adjusting device (8), a plurality of buffering dials (11) and an L-shaped intercepting device (12); the L-shaped intercepting device (12) is fixed to the end of a truss-type mechanical arm (1), the lifting mechanism is mounted on the L-shaped intercepting device (12), the variable load distance adjusting device (8) is mounted on the lifting mechanism, the upper ends of the plurality of buffering dials (11) are slidably connected to the variable load distance adjusting device (8), and the up and down movement of the variable load distance adjusting device (8) can drive the plurality of buffering dials (11) to move horizontally, thereby adjusting the spacing between the plurality of buffering dials (11).

2. The adaptive variable load gangue separation manipulator according to claim 1, characterized in that: The variable load distance adjustment device (8) adopts a plate-shaped structure, and five variable load distance adjustment grooves are provided on the plate surface of the variable load distance adjustment device (8), and the five variable load distance adjustment grooves each include three position points, namely, a first-stage distance change starting point, a second-stage distance change starting point, and a second-stage distance change end point.

3. The adaptive variable load gangue separation manipulator according to claim 2, characterized in that: The five first-stage variable pitch starting points have an equidistant structure with a distance of l1 between them; the five second-stage variable pitch starting points have an equidistant structure with a distance of l2 between them; the five second-stage variable pitch end points have an equidistant structure with a distance of l3 between them; five pulleys (9) are installed in the five variable load pitch adjusting grooves, and the variable load pitch adjusting grooves are divided into two travel sections h1 and h2. The inclination angles of the two travel sections of the five pulleys (9) need to meet The first stroke inclination angle θ = arctan (h1 / (l2-l1)(n-1))(1-4) The inclination angle of the second stroke θ=arctan(h2 / (l3-l2)(n-1))(1-5).

4. The adaptive variable load gangue separation manipulator according to claim 2, characterized in that: A pulley (9) is mounted on the upper end of each buffer lever (11), and each pulley (9) is slidably mounted in a variable load distance adjustment groove of the variable load distance adjustment device (8). Five compression springs (15) are installed on the front end surface of each buffer lever (11), the two compression springs (15) located at the bottom are fixedly connected to the short lever plate (14), and the three compression springs (15) located at the top are fixedly connected to the long lever plate (13).

5. The adaptive variable load gangue separation manipulator according to claim 4, characterized in that: The arrangement positions of the compression springs (15) of the buffering lever (11) have a geometric relationship as shown in the following formula, wherein r1, r2, r3, and r4 are the radii of the gangue; m is the distance between the buffering lever (11) and the conveyor belt; n1, n2, n3, n4, and n5 are the heights of the five compression springs (15) from the bottom surface of the buffering lever (11); p1 is the length of the short dial plate (14); and p2 is the length of the long dial plate (13); n1=r1-m (1-6) n2=r2-m (1-7) n3=r3-m (1-8) n4=r4-m (1-9) n5=2r4-r3-m (1-10) p1=n2+n1 (1-11) p2=n5-n3+40(1-12).

6. The adaptive variable load gangue separation manipulator according to claim 5, characterized in that: The stiffness coefficient k of the compression spring (15) on the buffer lever (11) and the thrust required by the motor (2) are obtained according to the following formula: The acceleration required for gangue is, according to the uniform acceleration motion formula: s=v0t+at 2 / 2 (1-13) According to Newton's second law, the net thrust required is: F 净 =in (1-14) The friction force of the conveyor belt on the object (the direction is opposite to the thrust): f=μmg (1-15) The total thrust is the force that must overcome friction and provide a net thrust: F 推 =F 净 +f (1-16) The spring constant is calculated using Hooke's law: k=F 推 / x (1-17) Spring buffer mechanism, from the elastic potential energy: BY p =kx 2 / 2 (1–18) Momentum Theorem: F 冲 △t=m△v (1-19) Where: F 冲 - impact force; x- spring deformation; △t- spring action time; v- conveyor belt speed; s- movement distance of gangue; f- conveyor belt friction.

7. The adaptive variable load gangue separation manipulator according to claim 1, characterized in that: The lifting device comprises a screw lifting mechanism, a first limit connecting plate (7), a second limit connecting plate (20) and a crossbeam (16); the first limit connecting plate (7) and the second limit connecting plate (20) are respectively connected to the top of the variable load distance adjustment device (8); the tops of the first limit connecting plate (7) and the second limit connecting plate (20) are commonly connected to the crossbeam (16); the crossbeam (16) is connected to the screw lifting mechanism; and the screw lifting mechanism is mounted on the horizontal plate surface of the L-shaped intercepting device (12).

8. The adaptive variable load gangue separation manipulator according to claim 7, characterized in that: The screw lifting mechanism comprises a first positioning slider (6), a second positioning slider (18), a first short guide rail (5), a second short guide rail (17), a first positioning seat (4), a second positioning seat (19), a screw positioning seat (30), a screw (31), and a motor (2); the first limiting connecting plate (7) is connected to the first positioning slider (6), the second limiting connecting plate (20) is connected to the second positioning slider (18), the first positioning slider (6) is slidably connected to the first short guide rail (5), the second positioning slider (18) is slidably connected to the second short guide rail (17), the first short guide rail (5) is connected to the first positioning seat (4), the second short guide rail (17) is connected to the second positioning seat (19), and the first positioning seat (4) and the second positioning seat (19) are both fixedly connected to the horizontal plate surface of the L-shaped intercepting device (12); The crossbeam (16) cooperates with the screw rod positioning seat (30), the screw rod positioning seat (30) cooperates with the screw rod (31), the screw rod (31) is connected to the motor (2), controls and drives the variable load distance adjustment device (8) to adjust different modes, and the motor (2) is fixed to the L-shaped interception device (12).

9. The adaptive variable load gangue separation manipulator according to claim 3, characterized in that: Each pulley (9) is fixedly connected with a Z-shaped connecting rod (10), and the lower end of each Z-shaped connecting rod (10) is connected to a corresponding buffering lever (11), and the buffering levers (11) are respectively buffering lever one (11-1), buffering lever two (11-2), buffering lever three (11-3), buffering lever four (11-4), and buffering lever five (11-5); The upper end of the buffer dial hand (11-1) is connected to a fixing device (34), the fixing device (34) is connected to the horizontal plate surface of the L-shaped intercepting device (12), the second buffer dial hand (11-2), the third buffer dial hand (11-3), the fourth buffer dial hand (11-4), and the fifth buffer dial hand (11-5) are respectively connected to four distance-adjusting slide blocks (23), the four distance-adjusting slide blocks (23) are slidably connected to the long guide rail (22), the long guide rail (22) is connected to the lower side of the guide rod (21), and the guide rod (21) is fixed to the L-shaped intercepting device (12).

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