Large-diameter grabbing mechanical claw and control system thereof

Abstract

The invention belongs to the technical field of mechanical claws, and particularly relates to a large-diameter grabbing mechanical claw and a control system thereof. A fixing seat is connected with a crawler-type walking mechanism through a hydraulic driving assembly, mounting grooves are formed in the two sides of the fixing seat, clamping claws of bent structures are arranged in the mounting grooves, and the ends of the clamping claws on the two sides are staggered; the clamping claw is connected with a power assembly in the mounting groove and is controlled by an external controller, and the power assembly drives the clamping claw to rotate, so that the grabbing action is realized; the crushing drill bit is arranged in the gap area between the clamping claws on the mounting base, the propelling equipment is started to enable the crushing drill bit to move along the mounting hole, ore in the gap area is impacted, ore in the gap area is promoted to be crushed and refined, the ore machining efficiency is improved, ore fragments are prevented from being embedded into the gap of the clamping claws, and the ore crushing efficiency is improved. And the normal work of the clamping claw is influenced.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical claws, specifically a large-diameter grasping mechanical claw and its control system. Background Art

[0002] The mechanical claws of mining machinery, also known as robot grippers or manipulator grippers, are important components in mining machinery for grasping, transporting, and processing materials such as ores and rocks. Four-claw mechanical claws and two-claw mechanical claws (i.e., two-jaw mechanical claws) are two common grasping tools in mining machinery, and they have some differences in structure, function, and application scenarios.

[0003] When choosing a two-claw mechanical claw or a four-claw mechanical claw, it is necessary to consider comprehensively according to specific application scenarios and requirements. Two-claw mechanical claws are suitable for scenarios such as lightweight material handling and precise control in mining machinery. For example, in the screening, classification of ores, or the assembly of small parts, or the handling of key items such as steel pipes or water pipes, two-claw mechanical claws can give full play to their advantages of precise control; four-claw mechanical claws are suitable for scenarios that require stable grasping and carrying of heavy materials.

[0004] In mining, four-claw mechanical claws can be used to grasp heavy objects such as large pieces of ore and scrap iron waste, ensuring safety and efficiency in the production process.

[0005] During the process of grasping and transporting ores, it is possible that relatively large mine fragments after fragmentation are stuck in the gap area between the mechanical claws, affecting the normal operation of the mechanical claws. In order to facilitate the movement and handling of ores during processing, it may be necessary to further crush and refine the ores, and the existing mechanical claws are difficult to meet the requirements. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art and solve the above technical problems; the present invention proposes a large-diameter grasping mechanical claw and its control system.

[0007] The technical solution adopted by the present invention to solve its technical problems is: the present invention proposes a large-diameter grasping mechanical claw, including a fixed seat, the fixed seat is connected to a crawler-type traveling mechanism through a hydraulic drive assembly, installation grooves are provided on both sides of the fixed seat, curved clamping claws are arranged inside the installation grooves, the ends of the clamping claws on both sides intersect with each other, and the clamping claws are connected to a power assembly inside the installation grooves. Controlled by an external controller, the power assembly drives the clamping claws to rotate to achieve a grasping action; An installation hole is provided on the fixed seat at a position opposite to the gap between the clamping claws, a crushing drill bit is arranged inside the installation hole, a pushing device is arranged inside the installation hole, and the crushing drill bit is connected to a rotating device at the end of the pushing device; The inner wall of the installation hole is evenly provided with dust reduction holes. The openings of the dust reduction holes point to the gap area between the crushing drill bit and the inner wall of the installation hole, and the dust reduction holes communicate with the atomization chamber inside the fixing seat 1, and the atomization chamber communicates with the atomizer.

[0008] Preferably, the crushing drill bit includes a fixing rod and a crushing end. The sharp crushing end is located at the end of the fixing rod, and the fixing rod is connected to the output end of the rotating device; The inside of the fixing rod is hollow, and a communication hole is provided at a position on the side wall of the fixing rod corresponding to the atomization chamber. An injection hole is provided on the crushing end, and the injection hole communicates with the inner area of the fixing rod.

[0009] Preferably, an annular groove is provided on the inner wall of the installation hole, and spiral guide blocks are evenly provided on the inner wall of the annular groove; Installation grooves are provided in the gap area between the guide blocks on the inner wall of the annular groove. Cleaning blocks are provided inside the installation grooves, and cleaning brushes are evenly provided on one side of the cleaning blocks close to the fixing rod.

[0010] Preferably, the cleaning block is rotatably connected to the inner wall of the installation groove. Flushing holes are evenly provided at a position on the end of the cleaning block close to the crushing drill bit. The flushing holes communicate with a cleaning chamber provided in the hollow part inside the cleaning block, and an inflation hole is provided on the side wall of the cleaning block. The inlet of the inflation hole faces the gap area between the guide blocks.

[0011] Preferably, an extension pipe is provided at the outlet of the flushing hole at the end of the cleaning block. The extension pipe is of a conical pipe structure and is made of an elastic material. The extension pipe communicates with the inside of the flushing hole.

[0012] Preferably, the roots of the cleaning brushes are located on the inner wall of the flushing hole, and the ends of the cleaning brushes pass through the flushing hole and the opening of the extension pipe and contact the outer surface of the opposite fixing rod.

[0013] Preferably, a cleaning rod is provided at the opening of the extension pipe. The cleaning rods are annularly distributed around the central axis of the extension pipe, and the ends of the cleaning rods are bent into a hook-like structure.

[0014] The control system of the large-diameter grasping mechanical claw is used to control the above-mentioned large-diameter grasping mechanical claw. The control system includes: A power unit, which includes a motor and a hydraulic drive assembly, for controlling the movement and speed of the crawler-type walking structure; A sensing unit, which includes a position sensor, a temperature and humidity sensor, and a pressure sensor, for collecting the working environment data of the large-diameter grasping mechanical claw; Intelligent control center, which collects and analyzes the data fed back by the sensing unit, and controls the power unit according to the instructions of the operator to realize the normal operation of the large-caliber grasping mechanical claw.

[0015] The beneficial effects of the present invention are as follows: For the large-caliber grasping mechanical claw and its control system of the present invention, by arranging a crushing drill bit in the gap area between the clamping claws on the fixed seat 1, during normal clamping operation, the crushing drill bit is located inside the mounting hole. When it is necessary to further crush and process the ore in the gap between the clamping claws, the propulsion device is started to make the crushing drill bit move along the mounting hole and extend into the gap area between the clamping claws to impact the ore in the gap area; meanwhile, the rotating device on the output end of the propulsion device is started to drive the crushing drill bit to rotate, and the rotating crushing drill bit impacts the ore in the gap area. The drilling and impact action promotes the crushing and refinement of the ore in the gap between the clamping claws, improves the processing efficiency of the ore, and also reduces the situation that ore fragments are embedded in the gap between the clamping claws and affect the normal operation of the clamping claws. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 is a three-dimensional view of the large-caliber grasping mechanical claw in the present invention; Figure 2 is a partial cross-sectional view of the large-caliber grasping mechanical claw in the present invention; Figure 3 is Figure 2 a partial enlarged view of part A in Figure 4 is a cross-sectional view of the cleaning block in the present invention.

[0018] In the figure: fixed seat 1, mounting groove 11, clamping claw 12, mounting hole 13, dust reduction hole 131, atomization cavity 132, annular groove 133, crushing drill bit 14, fixed rod 141, crushing end 142, communication hole 143, injection hole 144, pushing device 15, rotating device 151, diversion block 16, cleaning block 17, flushing hole 171, cleaning cavity 172, inflation hole 173, extension pipe 174, cleaning rod 175. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Embodiment 1:

[0021] During the mining process of coal and other mineral resources, when it is necessary to carry or crush large-sized ores, it is difficult to achieve by manual labor. However, because large mechanical equipment is difficult to enter relatively narrow mine tunnels to assist in construction; To effectively solve the above problems, as shown in the accompanying drawings of the specification Figures 1-4 As shown, the present application provides a large-diameter grasping mechanical claw, including a fixed seat 1. The fixed seat 1 is connected to the robotic arm on the existing crawler-type walking mechanism through a hydraulic drive assembly; considering the space of the mine tunnel, the crawler-type walking mechanism selected in the present application can be a remotely controlled crawler robot with a smaller volume, rather than a directly driven type, which is convenient to remotely control and enter the mine tunnel with a smaller space; installation grooves 11 are provided on both sides of the fixed seat 1, and clamping claws 12 with a bent structure are arranged inside the installation grooves 11. The ends of the clamping claws 12 on both sides are staggered with each other, and the clamping claws 12 are connected to the power assembly inside the installation grooves 11. Controlled by an external controller, the power assembly drives the clamping claws 12 to rotate to achieve the grasping action. The power assembly here can be a conventional hydraulic device or motor device of an existing mechanical claw, and any device that can achieve the above grasping action can be applicable to the present application; At the position on the fixed seat 1 opposite to the gap between the clamping claws 12, an installation hole 13 is provided. A crushing drill bit 14 is arranged inside the installation hole 13, and a pushing device 15 is arranged inside the installation hole 13. The pushing device here can be selected as a hydraulic telescopic device. The crushing drill bit 14 is connected to a rotating device 151 on the end of the pushing device 15. The rotating device here can be selected as a motor device, and the output end is connected to the crushing drill bit 14; Dust reduction holes 131 are evenly arranged on the inner wall of the installation hole 13. The openings of the dust reduction holes 131 point to the gap area between the crushing drill bit 14 and the inner wall of the installation hole 13, and the dust reduction holes 131 communicate with the atomization chamber 132 inside the fixed seat 1. A water tank storing cleaning water is also arranged inside the fixed seat 1. A micro water pump is arranged on the output pipeline of the water tank, and an atomizer is arranged at the output end of the water pump. The water pumped out of the water tank is atomized and then accelerated and filled into the atomization chamber 132.

[0022] Specific working process: For large-sized ores, the operator starts the crawler-type walking mechanism to move to a position close to the ore, and then operates the robotic arm to drive the large-diameter grasping mechanical claw close to the ore. Control the power assembly to open the clamping claws 12 on both sides of the fixed seat 1 to form a large gap area, move the clamping claws 12 so that the ore is located between the clamping claws 12 on both sides, and then start the clamping claws 12 to move closer to each other to achieve the grasping and moving of the ore, or apply pressure to crush the ore under pressure, so as to remove the obstacles encountered in the mining process and improve the mining efficiency; Similarly, the large gap between the clamping claws 12 on both sides can also be used to grasp and carry some equipment materials with a larger volume or diameter, reducing manual input and improving the operation efficiency; Furthermore, during the process of grasping and transporting ores, it is possible that larger ore fragments after fragmentation get stuck in the gap area between the clamping claws 12, affecting the normal operation of the mechanical claw. And when processing ores, it may be necessary to further crush and refine the ores for convenient movement and transportation. Therefore, a crushing drill bit 14 is provided on the fixed seat 1 in the gap area between the clamping claws 12. During normal clamping operations, the crushing drill bit 14 is located inside the mounting hole 13. When it is necessary to further crush and process the ores in the gap between the clamping claws 12, the pushing device 15 is activated to make the crushing drill bit 14 move along the mounting hole 13 and extend into the gap area between the clamping claws 12 to impact the ores in the gap area. At the same time, the rotating device 151 on the output end of the pushing device 15 is activated to drive the crushing drill bit 14 to rotate. The rotating crushing drill bit 14 impacts the ores in the gap area, and the drilling and impact actions cause the ores in the gap between the clamping claws 12 to be crushed and refined, improving the processing efficiency of the ores and reducing the situation where ore fragments are embedded in the gap between the clamping claws 12, affecting the normal operation of the clamping claws 12. And due to the contact between the crushing drill bit 14 and the ores, small ore fragments, slag dust, etc. adhere to the surface of the crushing drill bit 14 or diffuse around the working position of the mechanical claw. At this time, the operator can activate the atomizer to form water mist from the stored purified water and inject it into the atomization chamber 132 after acceleration. Subsequently, the purified water mist in the atomization chamber 132 flows into the gap area between the crushing drill bit 14 and the mounting hole 13 along the dust-removing holes 131 and flows outwards along the gap area, flushing the surface of the crushing drill bit 14, so that the sundries such as ore slag dust adhering to the surface of the crushing drill bit 14 are removed, reducing the situation where the crushing drill bit 14 after reset brings ore sundries into the gap area between the mounting hole 13 and the crushing drill bit 14, resulting in an increase in the movement resistance and wear of the crushing drill bit 14, and ensuring the working life of the crushing drill bit 14. And the water mist diffusing out from the gap of the mounting hole 13 combines with the dust diffusing in the air holes around the working area, causing it to settle downward, reducing the dust concentration around the working area, thereby improving the processing environment. Especially in narrow mine tunnels, excessive dust concentration will increase the working risk coefficient. Further, the water mist flowing out with the crushing drill bit 14 adheres to the fragmented ores and combines with the ore surface, which can increase the humidity of the ores. For ores such as coal ores that may self-ignite, spraying water mist can increase the humidity of the ores, inhibit the situation where the temperature rises due to frictional heat generation when the ores are subjected to intense impact crushing and processing, reduce the possibility of self-ignition, and ensure the construction safety during the mining process.

[0023] Embodiment 2:

[0024] On the basis of the first embodiment, the crushing drill bit 14 includes a fixing rod 141 and a crushing end 142. The sharp crushing end 142 is located at the end of the fixing rod 141, and the fixing rod 141 is connected to the output end of the rotating device 151; The inside of the fixing rod 141 is hollow, and a communication hole 143 is provided at a position on the side wall of the fixing rod 141 corresponding to the atomization chamber 132. An injection hole 144 is provided on the crushing end 142, and the injection hole 144 communicates with the inner region of the fixing rod 141.

[0025] Specific working process: On the basis of the specific working process in the first embodiment, the fixing rod 141 is used for the connection between the rotating device 151 and the crushing end 142, and is in the shape of a round rod with a smooth surface to reduce the resistance during movement in the mounting hole 13; while the crushing end 142 plays the role of impacting and crushing to clamp the ore. Therefore, the crushing end 142 is in a sharp shape, and convex blocks, grooves or serrated structures can be provided on the surface to increase the frictional force between the crushing end 142 and the ore, thereby improving the crushing and impact effect on the ore; When the crushing drill bit 14 extends out to play an impact and crushing role on the clamped ore, the communication hole 143 on the fixing rod 141 moves to a position close to the dust reduction hole 131. At this time, when the flowing water mist flows along the gap area between the mounting hole 13 and the fixing rod 141, because the gap area is small, the flowing water mist causes the air pressure in the gap area to increase. Due to the pressure difference, a part of the water mist-air flow mixture will enter the hollow part inside the fixing rod 141 through the communication hole 143, and then flow along the hollow part inside the fixing rod 141 towards the direction close to the crushing end 142, and finally flow out from the injection hole 144 on the surface of the crushing end 142. At this time, the crushing end 142 can be controlled to rotate slowly to facilitate the smooth inflow of the water mist-air flow into the fixing rod 141 and diffuse outward under the centrifugal force. Slow rotation can reduce the heat generation caused by friction between the ore and the crushing end 142, and reduce the possibility of spontaneous combustion of the ore fragments due to temperature rise; Because the crushing end 142 is embedded in the ore when processing the ore, the water mist flowing out from the injection hole 144 diffuses outward from the inside of the ore, improving the contact degree between the water mist and the ore fragments, thereby increasing the humidity of the ore fragments and promoting the accelerated downward settlement of the dust generated during the crushing process; and the injection hole 144 can be provided in the gap area of the crushing end 142 located on the convex blocks, grooves and other crushing structures. While reducing the direct contact between the injection hole 144 and the ore to reduce damage, the impact of the flowing water mist promotes the falling off of the ore fragments stuck in the gaps of the crushing structures, reducing the ore fragments adhered to the crushing end 142. While ensuring the normal operation of the crushing end 142, the sundries brought into the inside of the mounting hole 13 during the reset of the crushing end 142 are reduced, thereby reducing the blockage during the reset of the crushing drill bit 14.

[0026] Embodiment Three:

[0027] On the basis of the second embodiment, an annular groove 133 is provided on the inner wall of the mounting hole 13, and spiral guide blocks 16 are uniformly arranged on the inner wall of the annular groove 133; Installation grooves 11 are provided in the gap areas between the guide blocks 16 on the inner wall of the annular groove 133, and cleaning blocks 17 are arranged inside the installation grooves 11. Cleaning bristles are uniformly arranged on one side of the cleaning block 17 close to the fixing rod 141.

[0028] Specific working process: On the basis of the specific working process in the second embodiment, when the water mist flowing out from the atomization chamber 132 flows along the gap of the mounting hole 13 to the position of the annular groove 133, it contacts and is blocked by the guide blocks 16 on the inner wall of the annular groove 133 and flows along the gaps between the guide blocks 16. In this way, the flowing water mist shows spiral flow in the area of the annular groove 133 due to the guiding action of the guide blocks 16, which can increase the resistance of the external dust fragments to flow into the inside of the mounting hole 13 and better intercept the intrusion and penetration of impurities such as external ore fragment dust; And when the crushing drill bit 14 is reset and the crushing end 142 moves to the area close to the annular groove 133, the spiral-flowing water mist flushes the surface of the crushing end 142 in multiple directions, so that the ore fragments adhered and embedded on the complex surface of the crushing end 142 are more thoroughly detached under continuous flushing. Especially for the type of crushing end 142 with spiral convex blocks on the surface, the spiral-flowing flushing water mist has a better cleaning effect than the single vertically flowing water mist, and can more thoroughly carry away the fragments adhered to the gap groove position, thereby reducing the situation of ore fragments penetrating into the inside of the mounting hole 13; Furthermore, cleaning blocks 17 are uniformly arranged in the spiral gaps of the guide blocks 16, and the cleaning bristles of the cleaning blocks 17 extend into the gap area of the mounting hole 13 and contact the crushing drill bit 14. In this way, the cleaning bristles can intercept the penetration of fragment dust into the inside of the mounting hole 13; and during the reset process of the crushing drill bit 14, when the cleaning bristles contact the crushing end 142, the scraping action of the cleaning bristles causes the dust fragments adhered to the surface of the crushing end 142 to fall off, and the spiral-flowing water mist airflow drives the fallen fragments and dust to the outside of the mounting hole 13, ensuring the cleanliness of the inside of the mounting hole 13 and ensuring the smooth reciprocating movement of the crushing drill bit 14.

[0029] Embodiment Four:

[0030] On the basis of the third embodiment, the cleaning block 17 is rotatably connected to the inner wall of the installation groove 11, and a torsion spring is arranged at the rotating connection part to realize the rotational reset of the cleaning block 17. The rotation trajectory of the cleaning block 17 coincides with the spiral trajectory of the spiral gap of the guide block 16; Scouring holes 171 are evenly arranged at the end of the cleaning block 17 near the crushing drill bit 14. The scouring holes 171 communicate with a cleaning cavity 172 arranged in the hollow part inside the cleaning block 17. An air inlet hole 173 is arranged on the side wall of the cleaning block 17, and the inlet of the air inlet hole 173 faces the gap area of the diversion block 16.

[0031] Specific working process: On the basis of the specific working process in Embodiment 3, as the airflow mixed with water mist flows along the spiral gap area of the diversion block 16, it impacts the cleaning block 17 located in the gap area, causing the cleaning block 17 to swing under the impact of the airflow. With the cooperation of the torsion spring at the rotating connection part, the cleaning block 17 swings back and forth in the gap of the diversion block 16, driving the cleaning brush to scrape the surface of the crushing drill bit 14. While the swinging cleaning brush further scrapes and removes the debris, soot, and sundries adhering to the complex surface of the crushing end 142, the centrifugal force generated by the swinging causes the ore fragments and dust adhering to the cleaning brush to fall off and separate due to the centrifugal force, ensuring the cleaning effect of the cleaning brush. Furthermore, while the flowing water mist airflow impacts and drives the cleaning block 17 to swing, part of the water mist airflow enters the air inlet hole 173 arranged in the direction of the airflow impact on the cleaning block 17. The water mist airflow enters the interior of the cleaning cavity 172 through the air inlet hole 173, and then flows out from the scouring holes 171 evenly arranged at the end of the cleaning block 17, acting on the contact gap between the cleaning brush and the crushing end 142, improving the cleaning effect of the cleaning brush on the crushing end 142, and timely taking away the debris and dust adhering to the surface of the cleaning brush gap, ensuring the normal operation of the brush.

[0032] Embodiment 5:

[0033] On the basis of Embodiment 4, an extension pipe 174 is arranged at the outlet part of the scouring hole 171 at the end of the cleaning block 17. The extension pipe 174 is of a conical pipe structure and is made of an elastic material. The extension pipe 174 communicates with the interior of the scouring hole 171.

[0034] The root of the cleaning brush is located on the inner wall of the scouring hole 171, and the end of the cleaning brush passes through the scouring hole 171 and the opening of the extension pipe 174 to contact the outer surface of the opposite fixed rod 141.

[0035] A cleaning rod 175 is arranged at the opening part of the extension pipe 174. The cleaning rods 175 are annularly distributed around the central axis of the extension pipe 174, and the ends of the cleaning rods 175 are bent into hook-shaped blocks with a hook-like structure.

[0036] Specific working process: On the basis of the specific working process in the fourth embodiment, when the cleaning block 17 approaches the surface of the crushing end 142, the end of the extension pipe 174 at the end of the cleaning block 17 contacts the surface of the crushing end 142. The impact contact action at the end of the extension pipe 174 can more easily act on the gaps and cavities on the complex surface of the crushing end 142, prompting the ore fragments adhering and stuck therein to fall off; for example, for the injection hole 144 provided on the surface of the crushing end 142, it is difficult to clean. Therefore, the diameter of the end of the extension pipe 174 is set smaller than the diameter of the injection hole 144. Thus, the end of the extension pipe 174 contacts and slides on the surface of the crushing end 142, so that the end of the extension pipe 174 can be embedded into the opening of the injection hole 144 to dredge and clean the injection hole 144 and ensure the normal operation of the injection hole 144; and the extension pipe 174 is made of an elastic material and can deform under the action of an external force to avoid damage to the extension pipe 174 during the scraping process; Moreover, the water mist airflow inside the cleaning cavity 172 centrally flows out from the extension pipe 174 to form a concentrated airflow to impact the surface of the crushing end 142 nearby. The extension pipe 174 limits and guides the water mist airflow during the process of the water mist airflow approaching the crushing end 142, prompting it to flow concentratedly, reducing the loss of kinetic energy during the flow of the impact airflow, enabling it to fully act on the surface of the crushing end 142, and improving the cleaning effect on the adhered fragments on the surface of the crushing end 142; Furthermore, the end of the cleaning brush penetrates through the extension pipe 174 and extends out from the opening and acts on the surface of the crushing end 142. The extension pipe 174 plays a role in limiting and concentrating the cleaning brush, reducing the situation that the cleaning brush is deformed, distorted, and entangled with each other due to external force during multiple cleaning processes, making it difficult to fully contact and act on the crushing end 142; while the water mist airflow flows in the extension pipe 174, it also passes through the gaps of the cleaning brush, flushing the area of the gaps between the cleaning brushes, reducing the ore fragment particles adhering to the gaps between the cleaning brushes. The airflow impacting along the extending direction of the cleaning brush can also comb the cleaning brush and flow along the surface gaps of the cleaning brush to the contact gap with the crushing end 142, thereby fully cleaning the crushing end 142; Furthermore, cleaning rods 175 are evenly distributed at the opening part of the extension pipe 174. The end of the cleaning rod 175 is a hook block with a bent structure. The hook block at the end is for better hooking the ore fragments adhering to the gaps on the surface of the crushing end 142 and can be made of a metal material. The main body part of the cleaning rod 175 is made of an elastic material; and the cleaning brushes spreading outwards from the opening of the extension pipe 174 are embedded with the cleaning rods 175 and swing under pressure when the cleaning brushes and the cleaning rods 175 act on the surface of the crushing end 142. The swinging of the cleaning rods 175 in the gaps between the cleaning brushes can comb the cleaning brushes, reducing the ore fragment particles adhering to the gaps between the cleaning brushes and also reducing the situation of the cleaning brushes being entangled and deformed with each other, ensuring the normal operation of the cleaning brushes.

[0037] Example 6:

[0038] Based on Example 4, a control system for a large-caliber grasping mechanical claw. The control system is used to control the above-mentioned large-caliber grasping mechanical claw, and the control system includes: A power unit, which includes a motor and a hydraulic drive assembly, is used to control the movement and speed of the crawler-type walking structure, and control the operation of the clamping claw 12 to achieve the grasping and crushing operation of the ore; A sensing unit, which includes a position sensor, a temperature and humidity sensor, a pressure sensor, etc., can be set on the surface of the large-caliber grasping mechanical claw or on the crawler-type walking structure outside, and is used to collect the working environment data of the large-caliber grasping mechanical claw; An intelligent control center, which can adopt the existing plc intelligent control center to control the operation of each component of the large-caliber grasping mechanical claw and the supporting crawler-type walking mechanism. The intelligent control center collects and analyzes the data fed back by the sensing unit, and controls the power unit according to the operator's instructions to realize the normal operation of the large-caliber grasping mechanical claw.

[0039] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. Large-caliber grasping mechanical claw, including a fixed seat (1), the fixed seat (1) is connected to a crawler-type traveling mechanism through a hydraulic drive assembly, and is characterized in that: On both sides of the fixed seat (1), there are installation grooves (11). Inside the installation grooves (11), there are clamping claws (12) with a bent structure. The ends of the clamping claws (12) on both sides intersect with each other, and the clamping claws (12) are connected to the power components inside the installation grooves (11). Controlled by an external controller, the power components drive the clamping claws (12) to rotate to achieve the grasping action. On the fixed seat (1), at the position facing the gap between the clamping claws (12), there is an installation hole (13). Inside the installation hole (13), there is a crushing drill bit (14). Inside the installation hole (13), there is a pushing device (15). The crushing drill bit (14) is connected to the rotating device (151) at the end of the pushing device (15). The inner wall of the installation hole (13) is evenly provided with dust reduction holes (131). The openings of the dust reduction holes (131) point to the gap area between the crushing drill bit (14) and the inner wall of the installation hole (13), and the dust reduction holes (131) communicate with the atomization cavity (132) inside the installation seat. The atomization cavity (132) communicates with an atomizer.

2. The large-diameter grasping mechanical claw according to claim 1, wherein: The crushing drill bit (14) includes a fixed rod (141) and a crushing end (142). The pointed crushing end (142) is located at the end of the fixed rod (141), and the fixed rod (141) is connected to the output end of the rotating device (151). The inside of the fixed rod (141) is hollow, and at the position on the side wall of the fixed rod (141) corresponding to the atomization cavity (132), there is a communication hole (143). On the crushing end (142), there is an injection hole (144). The injection hole (144) communicates with the internal area of the fixed rod (141).

3. The large-caliber grasping mechanical claw according to claim 2, characterized in that: The inner wall of the installation hole (13) is provided with an annular groove (133), and evenly arranged on the inner wall of the annular groove (133) are spiral guide blocks (16). In the gap area between the guide blocks (16) on the inner wall of the annular groove (133), there is an installation groove (11). Inside the installation groove (11), there is a cleaning block (17). On the side of the cleaning block (17) close to the fixed rod (141), there are evenly arranged cleaning bristles.

4. The large-diameter grasping mechanical claw according to claim 3, wherein: The cleaning block (17) is rotatably connected to the inner wall of the installation groove (11). At the end of the cleaning block (17) close to the crushing drill bit (14), there are evenly arranged flushing holes (171). The flushing holes (171) communicate with the cleaning cavity (172) arranged in the hollow part inside the cleaning block (17), and there is an air inlet hole (173) on the side wall of the cleaning block (17). The inlet of the air inlet hole (173) faces the gap area between the guide blocks (16).

5. The large-caliber grasping mechanical claw according to claim 4, characterized in that: At the outlet of the flushing holes (171) at the end of the cleaning block (17), there is an extension pipe (174). The extension pipe (174) is of a conical pipe structure and is made of an elastic material. The extension pipe (174) communicates with the inside of the flushing holes (171).

6. The large-diameter grasping mechanical claw according to claim 5, characterized in that: The cleaning brush roots are located on the inner wall of the flushing hole (171), and the ends of the cleaning brushes pass through the flushing hole (171) and the opening of the extension pipe (174) to contact the outer surface of the opposite fixed rod (141).

7. The large-caliber grasping mechanical claw according to claim 6, wherein: A cleaning rod (175) is arranged at the opening part of the extension pipe (174). The cleaning rods (175) are annularly distributed around the central axis of the extension pipe (174), and the ends of the cleaning rods (175) are bent into a hook-like structure.

8. The control system of the large-diameter grasping mechanical claw, where the control system is used to control the large-diameter grasping mechanical claw described in any one of claims 1-7 above, and is characterized in that, The control system includes: A power unit, which includes a motor and a hydraulic drive assembly for controlling the travel and speed of the crawler-type walking structure; A sensing unit, which includes a position sensor, a temperature and humidity sensor, and a pressure sensor for collecting the working environment data of the large-diameter grasping mechanical claw; An intelligent control center, which collects and analyzes the data fed back by the sensing unit, and controls the power unit according to the operator's instructions to realize the normal operation of the large-diameter grasping mechanical claw.

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