Industrial and mining mechanical arm

Abstract

The invention provides a mechanical arm for industry and mining, and belongs to the technical field of mechanical arms. The industrial and mining mechanical arm comprises a main cross beam, a connecting plate is fixedly mounted at the top end of the main cross beam, a top plate is fixedly mounted on the top surface of the connecting plate, an equipment box is mounted on the top surface of the top plate, a mounting plate is mounted on the top surface of the equipment box, and a fixing plate is arranged below the main cross beam; a plurality of clamping jaws are installed on the surface of one side of the fixing plate, and an electrostatic neutralization mechanism is arranged on the outer side of the main cross beam. Through back-and-forth movement of a connecting rod and a driving plate, a plug disc can generate a suction effect in a cylinder, negative ions generated in a negative ion generation box can be sucked into the cylinder through a communicating pipe, enter a rectangular flow guide pipe through a conveying pipe and are blown out in the direction of a clamping jaw through an injection pipe, and the negative ions are sucked into the cylinder through the communicating pipe. And electrostatic ions between the clamping jaw and the ore are neutralized, so that the safety in the ore clamping and releasing process is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm for industrial and mining use. Background Art

[0002] Industrial and mining manipulators are specially designed for the industrial and mining fields. They are usually used to perform some dangerous, repetitive or precise tasks, improve work efficiency and reduce the risk of workers. In the mining working environment, manipulators can be used for drilling, excavation, and transportation of ore. By using automated manipulators, the time miners are exposed to dangerous environments can be reduced, and safety can be improved. It is especially suitable for the gripping and transportation of large ores.

[0003] However, in actual use, the environment of the mine is harsh. A large amount of dust is generated during ore mining. In a high-concentration dust environment, static electricity is generated between the gripper and the ore when the gripper of the robotic arm is gripping the ore, which can easily cause dust explosions and make it impossible to guarantee the safety of operators and equipment. Therefore, it is necessary to make a mechanical grabbing arm that can eliminate static electricity. Summary of the invention

[0004] In order to make up for the above deficiencies, the present invention provides a mechanical arm for industrial and mining use that overcomes the above technical problems or at least partially solves the above problems.

[0005] The present invention is achieved in that:

[0006] The present invention provides a mining robot arm, comprising a main crossbeam, a connecting plate is fixedly installed on the top of the main crossbeam, a top plate is fixedly installed on the top surface of the connecting plate, an equipment box is installed on the top surface of the top plate, a mounting plate is installed on the top surface of the equipment box for mounting the robot arm with the outside world, a fixing plate is arranged below the main crossbeam, a plurality of clamping claws are installed on one side surface of the fixing plate, an electrostatic neutralization mechanism is arranged on the outside of the main crossbeam, and a negative ion generating mechanism is arranged below the mounting plate;

[0007] The static neutralization mechanism comprises a gear ring, which is arranged above the top plate and inside the equipment box, and two limit frames are arranged outside the gear ring, and the two limit frames are fixedly mounted on the top surface of the top plate, and the gear ring is fixedly mounted on the inner sides of the two limit frames, and the insides of the two limit frames are movably connected with a moving plate, and the static neutralization mechanism is arranged to neutralize the static electricity attached to the surface of the clamping jaw;

[0008] The negative ion generating mechanism comprises a negative ion generating box, a rotating shaft three is rotatably installed inside the negative ion generating box, one end of the rotating shaft three located inside the negative ion generating box is fixedly connected to a friction rod, a friction frame is arranged on the outside of the friction rod, the inner wall of the friction frame is fitted with the outer wall of the friction rod, and the negative ion generating mechanism is arranged for the output of negative ions.

[0009] In a preferred solution, a rotating shaft 1 is rotatably mounted inside the top plate, a rotating disc is fixedly connected to the top of the rotating shaft 1, a rotating disc is fixedly connected to the outer surface of the rotating disc, a rotating shaft 2 is fixedly mounted inside the rotating disc, a gear is rotatably mounted on the bottom end of the rotating shaft 2, and the gear and the gear ring are meshed with each other.

[0010] In a preferred solution, a clamping block is installed at the top of the second rotating shaft, a rectangular frame is fixedly installed between the two movable plates, the clamping block is clamped inside the rectangular frame, a motor is fixedly installed on the bottom surface of the top plate, and the output end of the motor is fixedly connected to one end of the first rotating shaft.

[0011] In a preferred solution, four positioning frames are fixedly installed on the top surface of the top plate, cylinders are fixedly installed inside the four positioning frames, the four cylinders are symmetrically arranged in pairs, plug discs are sealed and clamped inside the cylinders, one side surface of the plug disc is fixedly connected with a connecting rod, one end of the connecting rod is fixedly connected with a driving plate, and one side of the driving plate is fixedly connected to the one side surface of the movable plate.

[0012] In a preferred embodiment, a connecting pipe is fixedly connected to one side surface of the cylinder, the other end of the connecting pipe extends to the interior of the negative ion generating box, a delivery pipe is fixedly connected to the outer surface of the cylinder, a one-way valve is installed on the outer surface of the delivery pipe, a rectangular flow guide pipe is installed on one side surface of the movable frame, one end of the delivery pipe is fixedly connected to the rectangular flow guide pipe, a plurality of connecting pipes are fixedly connected to the bottom surface of the rectangular flow guide pipe, the bottom ends of the plurality of connecting pipes are fixedly connected to an injection pipe, the injection pipe is set at an inclined angle and faces the inner side of the fixed plate.

[0013] In a preferred embodiment, a filter box is installed on one side surface of the negative ion generating box, an air intake pipe is fixedly connected to one side of the filter box, a meshing wheel is fixedly connected to the other end of the rotating shaft three, a tooth plate is provided on the outer side of the meshing wheel, and the tooth plate is fixedly installed on one side surface of the movable plate.

[0014] In a preferred embodiment, the bottom surface of the negative ion generating box is fixedly connected to a base, the top surface of the base is connected to a plurality of pins, the base and the pins are installed below the friction rod, and the connecting pipes are located on both sides of the base.

[0015] In a preferred embodiment, a mounting column is fixedly mounted on the inner wall of the negative ion generating box, and the mounting column is a hollow structure. A clamping column is movably sleeved inside the mounting column, and one end of the clamping column is fixedly connected to the friction frame. A spring is arranged inside the mounting column, and one end of the spring is fixedly connected to an inner wall of one side of the mounting column, and the other end of the spring is connected to a side of the clamping column sleeved inside the mounting column.

[0016] In a preferred embodiment, a grounding mechanism is provided below the top plate, and the grounding mechanism comprises an electric telescopic rod, an output end of the electric telescopic rod is fixedly connected to an insulating plate, a bottom surface of the insulating plate is fixedly connected to a contact plate, a top surface of the equipment box is fixedly connected to a grounding electrical box, and a connecting wire is fixedly connected between the contact plate and the grounding electrical box.

[0017] In a preferred solution, a fixing frame is fixedly connected to the inner wall of the main cross beam, an electric hydraulic cylinder is installed on the top surface of the fixing frame, a pushing frame is provided at the output end of the electric hydraulic cylinder, a pressure sensor is provided inside the pushing frame, and the pressure sensor is located between the output end of the electric hydraulic cylinder and the pushing frame. A through groove is provided on the top surface of the fixing frame, a clamping plate is movably connected inside the through groove, one end of the clamping plate is fixedly connected to one end of the pushing frame, a fixing shaft is fixedly installed on the other end of the clamping plate, the fixing shaft is located inside the movable frame, external frames are installed at both ends of the fixed shaft, and the fixing plate is installed on one side of the external frame.

[0018] The invention provides a mining robot arm, which has the following beneficial effects:

[0019] 1. By setting up the static neutralization mechanism, the back-and-forth movement of the connecting rod and the driving plate can make the plug plate produce a suction effect inside the cylinder, and the negative ions generated inside the negative ion generating box can be sucked into the inside of the cylinder through the connecting pipe, and enter the inside of the rectangular guide pipe through the conveying pipe, and finally blown out in the direction of the clamping jaws through the inclined injection pipe, neutralizing the static ions between the clamping jaws and the ore, thereby ensuring the safety during the ore clamping and releasing process, especially the safety in the high-concentration dust environment.

[0020] 2. By setting up a negative ion generating mechanism, it is possible to generate negative ions while neutralizing the static ions attached to the surface of the clamp, thereby increasing the overall practicality of the device. Moreover, the negative ions are generated by a mechanical structure, which can be better integrated into the high-concentration working environment of the mine compared to the existing generation by electrical equipment, further increasing the safety of the overall device in a high-concentration dust environment.

[0021] 3. By setting up a grounding mechanism, the electrostatic ions generated on the outer surface of the ore due to external factors can be transmitted to the outer surface of the contact plate, and then transmitted to the inside of the grounding box through the transmission of the connecting wire, and finally safely discharged through the grounding wire connected to the outside of the grounding box, thereby further reducing the concentration of electrostatic ions between the ore and the clamping claws when clamping the ore, and further improving the safety when clamping and placing the ore. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is an overall stereogram provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the overall front view structure provided for an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of a clamping jaw structure provided in an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of a gear ring structure provided in an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of a rectangular frame structure provided in an embodiment of the present invention;

[0028] Figure 6 The embodiments of the present invention provide Figure 4 The enlarged structural diagram at A in the middle;

[0029] Figure 7 A schematic diagram of the structure of a rectangular flow guide tube provided in an embodiment of the present invention;

[0030] Figure 8 A schematic diagram of a motor installation structure provided in an embodiment of the present invention;

[0031] Fig. 9 A schematic diagram of the cross-sectional structure of a negative ion generating box provided in an embodiment of the present invention;

[0032] Fig.10 A schematic diagram of the structure of a grounding box provided in an embodiment of the present invention.

[0033] In the figure: 1, main beam; 2, connecting plate; 3, top plate; 4, equipment box; 5, mounting plate; 6, movable frame; 7, fixed shaft; 8, external frame; 9, fixed plate; 10, clamping claw; 11, static neutralization mechanism; 1101, gear ring; 1102, limit frame; 1103, moving plate; 1104, rotating shaft 1; 1105, turntable; 1106, connecting arm; 1107, rotating shaft 2; 1108, gear; 1109, clamping block; 1110, rectangular frame; 1111, motor; 1112, positioning frame; 1113, cylinder; 1114, plug disc; 1115, connecting rod; 1116, driving plate; 1117, conveying pipe; 1118, one-way valve; 1119, rectangular guide pipe; 1120, connecting pipe; 1121. injection pipe; 1122. tooth plate; 1123. connecting pipe; 12. negative ion generating mechanism; 1201. negative ion generating box; 1202. rotating shaft three; 1203. meshing wheel; 1204. friction rod; 1205. friction frame; 1206. filter box; 1207. air intake pipe; 1208. base; 1209. pin; 1210. mounting column; 1211. clamping column; 1212. spring; 13. grounding mechanism; 1301. pressure sensor; 1302. electric telescopic rod; 1303. insulating plate; 1304. contact plate; 1305. grounding electric box; 1306. connecting wire; 14. fixing frame; 15. through slot; 16. pushing frame; 17. electric hydraulic cylinder; 18. clamping plate. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Reference Figure 1-Figure 10 The present invention provides a technical solution: a mechanical arm for industrial and mining use, comprising a main crossbeam 1, a connecting plate 2 is fixedly installed on the top of the main crossbeam 1, a top plate 3 is fixedly installed on the top surface of the connecting plate 2, an equipment box 4 is installed on the top surface of the top plate 3, a mounting plate 5 is installed on the top surface of the equipment box 4, and is used for the installation of the mechanical arm with the outside world, a fixing plate 9 is arranged below the main crossbeam 1, a plurality of clamping claws 10 are installed on one side surface of the fixing plate 9, an electrostatic neutralization mechanism 11 is arranged on the outside of the main crossbeam 1, and a negative ion generating mechanism 12 is arranged below the mounting plate 5;

[0036] A fixing frame 14 is fixedly connected to the inner wall of the main crossbeam 1, an electric hydraulic cylinder 17 is installed on the top surface of the fixing frame 14, a pushing frame 16 is provided at the output end of the electric hydraulic cylinder 17, a pressure sensor 1301 is provided inside the pushing frame 16, and the pressure sensor 1301 is located between the output end of the electric hydraulic cylinder 17 and the pushing frame 16, a through groove 15 is provided on the top surface of the fixing frame 14, a clamping plate 18 is movably clamped inside the through groove 15, one end of the clamping plate 18 is fixedly connected to one end of the pushing frame 16, a fixing shaft 7 is fixedly installed on the other end of the clamping plate 18, the fixing shaft 7 is located inside the movable frame 6, external frames 8 are installed at both ends of the fixing shaft 7, and a fixing plate 9 is installed on one side of the external frame 8.

[0037] During operation, in the process of clamping and conveying the ore, the device as a whole is first moved to the top of the ore to be clamped by the mechanical arm, and then the device as a whole is controlled to move downward by the mechanical arm until the ore is located between the two fixed plates 9, and then the electric hydraulic cylinder 17 can be controlled to start. During the start-up process of the electric hydraulic cylinder 17, the two groups of fixed plates 9 and the clamping claws 10 can be driven to move toward each other until the ore is clamped between the two groups of fixed plates 9 and the clamping claws 10. After the clamping is completed, the ore only needs to be moved to a suitable position by the mechanical arm, thereby achieving stable clamping and conveying of the ore.

[0038] The static neutralization mechanism 11 includes a gear ring 1101, which is arranged above the top plate 3 and inside the equipment box 4. Two limit frames 1102 are arranged outside the gear ring 1101. The two limit frames 1102 are fixedly mounted on the top surface of the top plate 3. The gear ring 1101 is fixedly mounted on the inner sides of the two limit frames 1102. The insides of the two limit frames 1102 are movably connected with a moving plate 1103. The static neutralization mechanism 11 is used to neutralize the static electricity attached to the surface of the clamp 10.

[0039] The top plate 3 is internally rotatably mounted with a rotating shaft 1104, the top of the rotating shaft 1104 is fixedly connected with a rotating disk 1105, the outer surface of the rotating disk 1105 is fixedly connected with a rotating shaft 2 1107, the bottom of the rotating shaft 2 1107 is rotatably mounted with a gear 1108, the gear 1108 and the gear ring 1101 are meshed with each other, the top of the rotating shaft 2 1107 is mounted with a clamping block 1109, and the two moving plates 110 A rectangular frame 1110 is fixedly installed between the top plate 3, and the clamping block 1109 is clamped inside the rectangular frame 1110. A motor 1111 is fixedly installed on the bottom surface of the top plate 3. The output end of the motor 1111 is fixedly connected to one end of the rotating shaft 1104. Four positioning frames 1112 are fixedly installed on the top surface of the top plate 3. Cylinders 1113 are fixedly installed inside the four positioning frames 1112. The four cylinders 1113 are symmetrically arranged in pairs, and the insides of the cylinders 1113 are sealed. A plug disc 1114 is clamped, and a connecting rod 1115 is fixedly connected to one side surface of the plug disc 1114, one end of the connecting rod 1115 is fixedly connected to a driving plate 1116, one side of the driving plate 1116 is fixedly connected to one side surface of the movable plate 1103, a connecting pipe 1123 is fixedly connected to one side surface of the cylinder 1113, the other end of the connecting pipe 1123 extends to the interior of the negative ion generating box 1201, a delivery pipe 1117 is fixedly connected to the outer surface of the cylinder 1113, a one-way valve 1118 is installed on the outer surface of the delivery pipe 1117, a rectangular guide pipe 1119 is installed on one side surface of the movable frame 6, one end of the delivery pipe 1117 is fixedly connected to the rectangular guide pipe 1119, a plurality of connecting pipes 1120 are fixedly connected to the bottom surface of the rectangular guide pipe 1119, and the bottom ends of the plurality of connecting pipes 1120 are fixedly connected to injection pipes 1121, and the injection pipe 1121 is set at an inclined angle and faces the inner side of the fixed plate 9.

[0040] During operation, when the ore needs to be placed after being clamped and conveyed, it is only necessary to start the electric hydraulic cylinder 17 again, and the contraction of the electric hydraulic cylinder 17 drives the two sets of fixed plates 9 and the clamping claws 10 to move in opposite directions until the distance between the two sets of fixed plates 9 and the clamping claws 10 gradually becomes larger than the ore, and the ore can automatically fall down. In this process, as the ore slides, friction will be generated between the ore and the clamping claws 10, thereby generating static electricity. Therefore, when clamping or putting down the ore, the motor can be controlled to When the motor 1111 is started, the rotating disk 1105 can be driven to rotate under the action of the rotating shaft 1104, thereby driving the connecting arm 1106 to make a circular motion inside the gear ring 1101. During the circular motion, the connecting arm 1106 can be limited by the gear 1108, so that the connecting arm 1106 is more stable during the circular motion. In addition, when the connecting arm 1106 moves in a circular motion, the movable plates 1103 on both sides of the rectangular frame 1110 can be driven under the action of the clamping block 1109 and the rectangular frame 1110. The stopper 1114 moves back and forth inside the limit frame 1102, thereby driving the driving plates 1116 and the connecting rods 1115 on both sides of the movable plate 1103 to move synchronously. At this time, the back and forth movement of the connecting rods 1115 and the driving plates 1116 can make the plug disc 1114 produce a suction effect inside the cylinder 1113, thereby the negative ions generated inside the negative ion generating box 1201 can be sucked into the cylinder 1113 through the connecting pipe 1123, and then the sucked negative ions can be pushed by the plug disc 1114. The air is pushed into the interior of the conveying pipe 1117, and enters into the interior of the rectangular guide pipe 1119 through the conveying pipe 1117, and is finally blown out toward the direction of the clamp 10 through the inclined injection pipe 1121, so that the static electricity ions generated between the clamp 10 and the ore in the process of clamping the ore are neutralized, and the static electricity ions generated by the friction between the clamp 10 and the ore in the process of placing the ore are also neutralized, thereby ensuring the safety during the clamping and releasing of the ore, especially the safety in a high-concentration dust environment.

[0041] Through the above, on the one hand, the air containing negative ions generated inside the negative ion generating box 1201 can be discharged into between the two groups of fixed plates 9 and the clamping jaws 10 to neutralize the static ions between the clamping jaws 10 and the ore. On the other hand, since the injection pipe 1121 is arranged toward the clamping jaws 10, after the ore is lowered, not only the static ions generated between the ore and the clamping jaws 10 can be neutralized, but also the static ions attached to the surface of the clamping jaws 10 can be neutralized and then blown off, so that the static ions are discharged into the dust environment after neutralization, rather than directly discharged, thereby further increasing the safety of operation and preventing the occurrence of dust explosions.

[0042] The negative ion generating mechanism 12 comprises a negative ion generating box 1201, a rotating shaft 3 1202 is rotatably installed inside the negative ion generating box 1201, a friction rod 1204 is fixedly connected to one end of the rotating shaft 3 1202 located inside the negative ion generating box 1201, a friction frame 1205 is arranged outside the friction rod 1204, the inner wall of the friction frame 1205 is fitted with the outer wall of the friction rod 1204, and the negative ion generating mechanism 12 is arranged for the output of negative ions;

[0043] A filter box 1206 is installed on one side surface of the negative ion generating box 1201, and an air intake pipe 1207 is fixedly connected to one side of the filter box 1206. When the air with negative ions inside the negative ion generating box 1201 is sucked out, the outside air can re-enter the negative ion generating box 1201 through the air intake pipe 1207, and the air entering the negative ion generating box 1201 is filtered to remove dust, which can ensure the cleanliness of the air entering the negative ion generating box 1201, thereby ensuring the quality of the air with negative ions generated subsequently. The other end of the rotating shaft 3 1202 is fixedly connected to a meshing wheel 1203, and a tooth plate 1122 is arranged on the outer side of the meshing wheel 1203. The tooth plate 1122 is fixedly installed on one side surface of the moving plate 1103. The bottom surface of the negative ion generating box 1201 is fixedly connected to a base 1208, and the top surface of the base 1208 is connected to a plurality of Pin 1209, base 1208 and pin 1209 are installed below the friction rod 1204, and the connecting pipe 1123 is located on both sides of the base 1208. The inner wall of the negative ion generating box 1201 is fixedly installed with a mounting column 1210, and the mounting column 1210 is a hollow structure. The internal movable sleeve of the mounting column 1210 is provided with a clamping column 1211, and one end of the clamping column 1211 is fixedly connected to the friction frame 1205. A spring 1212 is arranged inside the mounting column 1210, and one end of the spring 1212 is fixedly connected to the inner wall of one side of the mounting column 1210, and the other end of the spring 1212 is connected to the side of the clamping column 1211 sleeved inside the mounting column 1210. Through the arrangement of the spring 1212, the friction frame 1205 and the friction rod 1204 can be more closely fitted to prevent the problem of loose fitting between the friction rod 1204 and the friction frame 1205 after long-term use.

[0044] During operation, when the movable plate 1103 moves back and forth inside the limit frame 1102, it can also drive the tooth plate 1122 to move synchronously. Since the tooth plate 1122 and the meshing wheel 1203 are meshed with each other, the rotating shaft 1202 can be driven to rotate, thereby driving the friction rod 1204 to rotate on the inner wall of the friction frame 1205, so that the friction rod 1204 and the friction frame 1205 rub against each other to generate electrostatic ions, wherein the negative ions in the generated electrostatic ions will be attracted by the pins 1209 and gather at the bottom of the negative ion generating box 1201, that is, the place where the connecting pipe 1123 extends to the inside of the negative ion generating box 1201. Thereby, the connecting tube 1123 can absorb the negative ions into the interior of the cylinder 1113, and the generated positive ions will be adsorbed by the lead pin arranged above the negative ion generating box 1201, and the lead pin is connected to the grounding electric box 1305 through an electric wire, so that the positive ions can be safely discharged through the grounding electric box 1305, thereby achieving the ability to generate negative ions while neutralizing the static ions attached to the surface of the clamp 10, thereby increasing the overall practicality of the device, and the negative ions are generated through a mechanical structure, which can be better integrated into the high-concentration working environment of the mine compared to the existing generation through electrical equipment, further increasing the safety of the overall device in a high-concentration dust environment.

[0045] A grounding mechanism 13 is provided below the top plate 3, and the grounding mechanism 13 includes an electric telescopic rod 1302, the output end of the electric telescopic rod 1302 is fixedly connected to an insulating plate 1303, the bottom surface of the insulating plate 1303 is fixedly connected to a contact plate 1304, the top surface of the equipment box 4 is fixedly connected to a grounding electrical box 1305, and a connecting wire 1306 is fixedly connected between the contact plate 1304 and the grounding electrical box 1305.

[0046] During operation, after the two sets of fixing plates 9 and the clamping claws 10 clamp the ore, the pressure between the output end of the electric hydraulic cylinder 17 and the pushing frame 16 increases. When the pressure exceeds the threshold of the pressure sensor 1301, the electric telescopic rod 1302 can be started through the pressure sensor 1301. At this time, the electric telescopic rod 1302 can drive the contact plate 1304 to move downward until the bottom surface of the contact plate 1304 contacts the outer surface of the ore. The electric telescopic rod 1302 stops starting. At this time, the contact plate 1304 fits and presses the ore downward, which can It makes the ore more stable during the clamping process. On the other hand, it can transmit the electrostatic ions generated on the outer surface of the ore due to external factors to the outer surface of the contact plate 1304, and then transmit the electrostatic ions to the inside of the grounding electrical box 1305 through the transmission of the connecting line 1306, and finally discharge them safely through the grounding wire connected to the outside of the grounding electrical box 1305, thereby further reducing the concentration of electrostatic ions between the ore and the clamping jaws 10 when the ore is clamped, thereby further improving the safety when clamping and placing the ore, which is particularly suitable for metal ores.

[0047] Specifically, the working process or working principle of the mining robot arm is as follows: when in use, in the process of clamping and conveying the ore, the device as a whole is first moved to the top of the ore to be clamped by the robot arm, and then the device as a whole is controlled to move downward by the robot arm until the ore is between the two fixed plates 9, and then the electric hydraulic cylinder 17 can be controlled to start. During the process of starting the electric hydraulic cylinder 17, the two groups of fixed plates 9 and the clamping claws 10 can be driven to move toward each other until the ore is clamped between the two groups of fixed plates 9 and the clamping claws 10. After the clamping is completed, the ore only needs to be moved to a suitable position by the robot arm, thereby achieving stable clamping and conveying of the ore;

[0048] By controlling the motor 1111 to start, the turntable 1105 is driven to rotate under the action of the rotating shaft 1104, and the connecting arm 1106 is driven to make a circular motion inside the gear ring 1101, thereby driving the driving plates 1116 and the connecting rod 1115 on both sides of the movable plate 1103 to move synchronously. At this time, the back and forth movement of the connecting rod 1115 and the driving plate 1116 can make the plug plate 1114 produce a suction effect inside the cylinder 1113, and the negative ions generated inside the negative ion generating box 1201 are sucked into the inside of the cylinder 1113 through the connecting pipe 1123, and enter the inside of the rectangular guide pipe 1119 through the conveying pipe 1117, and finally blown out toward the direction of the clamp 10 through the inclined injection pipe 1121, so that the static ions generated between the clamp 10 and the ore in the process of clamping the ore are neutralized;

[0049] When the movable plate 1103 moves back and forth inside the limit frame 1102, it can also drive the tooth plate 1122 to move synchronously, and drive the friction rod 1204 to rotate on the inner wall of the friction frame 1205, so that the friction rod 1204 and the friction frame 1205 rub against each other to generate electrostatic ions, wherein the negative ions in the generated electrostatic ions will gather at the bottom of the negative ion generating box 1201 under the adsorption of the pin 1209, and can generate negative ions while neutralizing the electrostatic ions attached to the surface of the clamp 10. Moreover, the negative ions are generated through the mechanical structure, which can be better integrated into the high-concentration working environment of the mine compared to the existing generation through electrical equipment, and further increases the safety of the overall device in a high-concentration dust environment.

[0050] It should be noted that the motor 1111 is a device or equipment existing in the prior art, or a device or equipment that can be realized in the prior art. Its power supply, specific composition and principle are clear to those skilled in the art, so they are not described in detail.

Claims

1. A mining robot arm, comprising a main beam (1), characterized in that: A connecting plate (2) is fixedly mounted on the top of the main crossbeam (1), a top plate (3) is fixedly mounted on the top surface of the connecting plate (2), an equipment box (4) is mounted on the top surface of the top plate (3), a mounting plate (5) is mounted on the top surface of the equipment box (4) for mounting a mechanical arm with an external device, a fixing plate (9) is arranged below the main crossbeam (1), a plurality of clamping claws (10) are mounted on one side surface of the fixing plate (9), an electrostatic neutralization mechanism (11) is arranged on the outside of the main crossbeam (1), and a negative ion generating mechanism (12) is arranged below the mounting plate (5); The static neutralization mechanism (11) comprises a gear ring (1101), the gear ring (1101) is arranged above the top plate (3) and located inside the equipment box (4), two limit frames (1102) are arranged outside the gear ring (1101), the two limit frames (1102) are fixedly mounted on the top surface of the top plate (3), the gear ring (1101) is fixedly mounted on the inner side of the two limit frames (1102), and the inside of the two limit frames (1102) are movably connected with a movable plate (1103), and the static neutralization mechanism (11) is arranged to neutralize static electricity attached to the surface of the clamping jaw (10); The negative ion generating mechanism (12) comprises a negative ion generating box (1201), a rotating shaft (1202) is rotatably mounted inside the negative ion generating box (1201), one end of the rotating shaft (1202) located inside the negative ion generating box (1201) is fixedly connected to a friction rod (1204), a friction frame (1205) is arranged outside the friction rod (1204), the inner wall of the friction frame (1205) is in contact with the outer wall of the friction rod (1204), and the negative ion generating mechanism (12) is arranged for the production of negative ions.

2. The mining robot arm according to claim 1, characterized in that: A rotating shaft 1 (1104) is rotatably mounted inside the top plate (3); a rotating disk (1105) is fixedly connected to the top of the rotating shaft 1 (1104); a rotating disk (1105) is fixedly connected to the outer surface of the rotating disk (1105); a rotating shaft 2 (1107) is fixedly mounted inside the rotating disk (1105); a gear (1108) is rotatably mounted on the bottom end of the rotating shaft 2 (1107); and the gear (1108) is meshed with the gear ring (1101).

3. The mining robot arm according to claim 2, characterized in that: A clamping block (1109) is installed at the top end of the second rotating shaft (1107), a rectangular frame (1110) is fixedly installed between the two movable plates (1103), the clamping block (1109) is clamped inside the rectangular frame (1110), a motor (1111) is fixedly installed on the bottom surface of the top plate (3), and the output end of the motor (1111) is fixedly connected to one end of the first rotating shaft (1104).

4. The mining robot arm according to claim 3, characterized in that: Four positioning frames (1112) are fixedly mounted on the top surface of the top plate (3), cylinders (1113) are fixedly mounted inside the four positioning frames (1112), the four cylinders (1113) are symmetrically arranged in pairs, plug discs (1114) are sealed and clamped inside the cylinders (1113), one side surface of the plug disc (1114) is fixedly connected to a connecting rod (1115), one end of the connecting rod (1115) is fixedly connected to a driving plate (1116), and one side of the driving plate (1116) is fixedly connected to a side surface of the movable plate (1103).

5. The mining robot arm according to claim 4, characterized in that: A connecting pipe (1123) is fixedly connected to one side surface of the cylinder (1113), and the other end of the connecting pipe (1123) extends to the interior of the negative ion generating box (1201). A delivery pipe (1117) is fixedly connected to the outer surface of the cylinder (1113), and a one-way valve (1118) is installed on the outer surface of the delivery pipe (1117). A rectangular flow guide pipe (1119) is installed on one side surface of the movable frame (6), and one end of the delivery pipe (1117) is fixedly connected to the rectangular flow guide pipe (1119). A plurality of connecting pipes (1120) are fixedly connected to the bottom surface of the rectangular flow guide pipe (1119), and the bottom ends of the plurality of connecting pipes (1120) are fixedly connected to an injection pipe (1121), and the injection pipe (1121) is arranged at an inclined angle and faces the inner side of the fixed plate (9).

6. The mining robot arm according to claim 5, characterized in that: A filter box (1206) is installed on one side surface of the negative ion generating box (1201), an air intake pipe (1207) is fixedly connected to one side of the filter box (1206), and a meshing wheel (1203) is fixedly connected to the other end of the rotating shaft (1202), a tooth plate (1122) is arranged on the outer side of the meshing wheel (1203), and the tooth plate (1122) is fixedly installed on one side surface of the movable plate (1103).

7. The mining robot arm according to claim 6, characterized in that: The bottom surface of the negative ion generating box (1201) is fixedly connected to a base (1208), the top surface of the base (1208) is connected to a plurality of pins (1209), the base (1208) and the pins (1209) are installed below the friction rod (1204), and the connecting pipe (1123) is located on both sides of the base (1208).

8. The mining robot arm according to claim 7, characterized in that: A mounting column (1210) is fixedly mounted on the inner wall of the negative ion generating box (1201); the mounting column (1210) is a hollow structure; a clamping column (1211) is movably sleeved inside the mounting column (1210); one end of the clamping column (1211) is fixedly connected to the friction frame (1205); a spring (1212) is arranged inside the mounting column (1210); one end of the spring (1212) is fixedly connected to an inner wall of one side of the mounting column (1210); and the other end of the spring (1212) is connected to a side of the clamping column (1211) sleeved inside the mounting column (1210).

9. The mining robot arm according to claim 8, characterized in that: A grounding mechanism (13) is provided below the top plate (3), the grounding mechanism (13) comprising an electric telescopic rod (1302), the output end of the electric telescopic rod (1302) being fixedly connected to an insulating plate (1303), the bottom surface of the insulating plate (1303) being fixedly connected to a contact plate (1304), the top surface of the equipment box (4) being fixedly connected to a grounding electric box (1305), and a connecting wire (1306) being fixedly connected between the contact plate (1304) and the grounding electric box (1305).

10. The mining robot arm according to claim 9, characterized in that: A fixing frame (14) is fixedly connected to the inner wall of the main cross beam (1), an electric hydraulic cylinder (17) is installed on the top surface of the fixing frame (14), a pushing frame (16) is provided at the output end of the electric hydraulic cylinder (17), a pressure sensor (1301) is provided inside the pushing frame (16), and the pressure sensor (1301) is located between the output end of the electric hydraulic cylinder (17) and the pushing frame (16), a through groove (15) is provided on the top surface of the fixing frame (14), a clamping plate (18) is movably clamped inside the through groove (15), one end of the clamping plate (18) is fixedly connected to one end of the pushing frame (16), and a fixing shaft (7) is fixedly installed on the other end of the clamping plate (18), and the fixing shaft (7) is located inside the movable frame (6), and external frames (8) are installed at both ends of the fixing shaft (7), and the fixing plate (9) is installed on one side of the external frame (8).

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