Large-caliber grasping mechanical claw and its control system

Abstract

The present invention belongs to the technical field of mechanical claws, specifically a large-caliber grabbing mechanical claw and its control system, wherein a fixed seat is connected to a crawler walking mechanism through a hydraulic drive assembly, mounting grooves are provided on both sides of the fixed seat, and a clamping claw with a curved structure is provided inside the mounting groove, the ends of the clamping claws on both sides are staggered with each other, and the clamping claws are connected to a power assembly inside the mounting groove, and are controlled by an external controller, and the power assembly drives the clamping claws to rotate to realize the grabbing action; the present invention arranges a crushing drill bit in the gap area between the clamping claws on the mounting seat, starts the propulsion equipment to make the crushing drill bit move along the mounting hole, impacts the ore in the gap area, and causes the ore in the gap of the clamping claws to be crushed and refined, thereby improving the processing efficiency of the ore, and also reducing the situation where ore fragments are embedded in the gap of the clamping claws, affecting the normal operation of the clamping claws.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical claws, in particular to a large-caliber grasping mechanical claw and a control system thereof. Background Art

[0002] The mechanical claw of mining machinery, also known as robot claw or manipulator claw, is an important component in mining machinery used to grasp, carry and process materials such as ores and rocks. The four-claw mechanical claw and the double-claw mechanical claw (i.e. two-claw mechanical claw) are two common grasping tools in mining machinery. They have some differences in structure, function and application scenarios.

[0003] When choosing between a dual-claw or quad-claw gripper, consider the specific application scenario and requirements. A dual-claw gripper is suitable for lightweight material handling and precise control in mining machinery. For example, it can leverage its precise control advantages during ore screening and sorting, small parts assembly, and critical handling of steel or water pipes. A quad-claw gripper is suitable for applications requiring stable gripping and carrying of heavy materials.

[0004] In mining, the four-claw mechanical claw can be used to grab large pieces of ore, scrap iron and other heavy objects to ensure safety and efficiency in the production process.

[0005] During the process of grabbing and transporting ore, large-volume crushed ore fragments may be stuck in the gap area between the mechanical claws, affecting the normal operation of the mechanical claws. In order to facilitate movement and transportation when processing ore, the ore may need to be further crushed and refined, and the existing mechanical claws are difficult to meet the needs. Summary of the Invention

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

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: the present invention proposes a large-caliber grasping mechanical claw, including a fixed base, the fixed base is connected to a crawler-type walking mechanism through a hydraulic drive component, mounting grooves are provided on both sides of the fixed base, and a curved gripping claw is provided inside the mounting groove, the ends of the gripping claws on both sides are staggered, and the gripping claws are connected to a power component inside the mounting groove. The gripping claws are driven to rotate by an external controller to achieve a gripping action;

[0008] A mounting hole is provided on the fixing seat at a position facing the gap between the clamping claws, a crushing drill bit is provided inside the mounting hole, a pushing device is provided inside the mounting hole, and the crushing drill bit is connected to the rotating device on the end of the pushing device;

[0009] Dust reduction holes are evenly arranged on the inner wall of the mounting hole, and the openings of the dust reduction holes point to the gap area between the crushing drill bit and the inner wall of the mounting hole, and the dust reduction holes are communicated with the atomization chamber inside the fixing seat 1, and the atomization chamber is communicated with the atomizer.

[0010] Preferably, the crushing drill bit comprises a fixing rod and a crushing end, the sharp crushing end is located on the end of the fixing rod, and the fixing rod is connected to the output end of the rotating device;

[0011] The interior of the fixing rod is hollow, and a communicating hole is provided on a side wall of the fixing rod at a position corresponding to the atomizing chamber. An injection hole is provided on the crushing end, and the injection hole communicates with the interior area of the fixing rod.

[0012] Preferably, an annular groove is provided on the inner wall of the mounting hole, and spiral guide blocks are evenly provided on the inner wall of the annular groove;

[0013] The inner wall of the annular groove is provided with a groove in the gap area between the guide blocks, a cleaning block is provided inside the groove, and cleaning bristles are evenly provided on the side of the cleaning block close to the fixed rod.

[0014] Preferably, the cleaning block is rotatably connected to the inner wall of the groove, and flushing holes are evenly arranged on the end of the cleaning block near the crushing drill bit. The flushing holes are communicated with the cleaning cavity arranged in the hollow part inside the cleaning block, and the side wall of the cleaning block is provided with an inflation hole, and the inlet of the inflation hole is opposite to the gap area of the guide block.

[0015] Preferably, an extension tube is provided at the end of the cleaning block at the outlet of the flushing hole. The extension tube is a tapered tube structure and is made of elastic material. The extension tube is communicated with the inside of the flushing hole.

[0016] Preferably, the roots of the cleaning bristles are located on the inner wall of the flushing hole, and the ends of the cleaning bristles pass through the flushing hole and the opening of the extension tube and contact the outer surface of the opposite fixing rod.

[0017] Preferably, a cleaning rod is provided at the opening of the extension tube. The cleaning rod is distributed in a ring around the central axis of the extension tube, and the end of the cleaning rod is bent to present a hook-shaped structure.

[0018] A large-caliber gripping mechanical claw control system, which is used to control the large-caliber gripping mechanical claw, includes:

[0019] A power unit, comprising a motor and a hydraulic drive assembly for controlling the travel and speed of the crawler-type walking structure;

[0020] A sensing unit, comprising a position sensor, a temperature and humidity sensor, and a pressure sensor, for collecting working environment data of the large-caliber gripping mechanical claw;

[0021] The intelligent control center collects data fed back by the sensing unit for analysis and calculation, and controls the power unit according to the operator's instructions to achieve normal operation of the large-caliber grasping mechanical claw.

[0022] The beneficial effects of the present invention are as follows:

[0023] The large-caliber gripping mechanical claw and its control system described in the present invention are configured such that a crushing drill bit is arranged on a fixed seat 1 in the gap area between the clamping claws. During normal clamping operations, the crushing drill bit is located inside the mounting hole. When the mine in the gap between the clamping claws needs to be further crushed, the propulsion device is started to move the crushing drill bit along the mounting hole and extend into the gap area between the clamping claws to impact the ore in the gap area. At the same time, the rotating device located 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 mine in the gap area. The drilling impact action causes the ore in the gap between the clamping claws to be crushed and refined, thereby improving the processing efficiency of the ore and reducing the situation where ore fragments are embedded in the gap between the clamping claws, affecting the normal operation of the clamping claws. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] Figure 1 It is a three-dimensional diagram of the large-caliber grasping mechanical claw of the present invention;

[0026] Figure 2 It is a partial cross-sectional view of the large-caliber grasping mechanical claw of the present invention;

[0027] Figure 3 yes Figure 2 A partial enlarged view of point A in the middle;

[0028] Figure 4 It is a cross-sectional view of a cleaning block of the present invention.

[0029] In the figure: fixing seat 1, mounting groove 11, clamping claw 12, mounting hole 13, dust reduction hole 131, atomizing chamber 132, annular groove 133, crushing drill bit 14, fixing rod 141, crushing end 142, connecting hole 143, injection hole 144, pushing device 15, rotating device 151, guide block 16, cleaning block 17, flushing hole 171, cleaning chamber 172, inflation hole 173, extension tube 174, cleaning rod 175. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings shown in the embodiments of the present invention. Obviously, the embodiments described are only 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 making creative efforts are within the scope of protection of the present invention.

[0031] Example 1:

[0032] During the mining process of coal and other mineral resources, when large ores need to be transported or crushed, it is difficult to do so by manpower. However, large machinery and equipment cannot enter the narrow mine tunnels to assist in construction.

[0033] In order to effectively solve the above problems, as shown in the accompanying drawings of the specification Figure 1-Figure 4 As shown, the present application provides a large-caliber grabbing mechanical claw, including a fixed base 1, which is connected to the mechanical arm of an existing crawler-type walking mechanism through a hydraulic drive component; considering the space in the mine tunnel, the crawler-type walking mechanism selected in the present application can be a smaller remote-controlled crawler-type walking robot, rather than a directly driven type, so as to facilitate remote control entry into a mine tunnel with a smaller space; mounting grooves 11 are provided on both sides of the fixed base 1, and a curved gripping claw 12 is provided inside the mounting groove 11, with the ends of the gripping claws 12 on both sides interlaced with each other, and the gripping claws 12 are connected to the power component inside the mounting groove 11. Under the control of an external controller, the power component drives the gripping claw 12 to rotate to achieve a gripping action. The power component here can be a conventional hydraulic device or motor device of an existing mechanical claw, and any device that can achieve the above-mentioned gripping action can be applicable to the present application;

[0034] A mounting hole 13 is provided on the fixing base 1 at a position opposite to the gap between the clamping claws 12. A crushing drill bit 14 is provided inside the mounting hole 13. A pushing device 15 is provided inside the mounting hole 13. The pushing device here can be 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 a motor device, and the output end is connected to the crushing drill bit 14.

[0035] Dust reduction holes 131 are evenly arranged on the inner wall of the mounting hole 13. The opening of the dust reduction hole 131 points to the gap area between the crushing drill bit 14 and the inner wall of the mounting hole 13, and the dust reduction hole 131 is communicated with the atomization chamber 132 inside the fixing base 1. A water tank for storing cleaning water is also provided inside the fixing base 1. A micro water pump is provided on the water tank output pipe, and an atomizer is provided at the output end of the water pump to atomize the water drawn out of the water tank and accelerate it to be filled into the atomization chamber 132.

[0036] Specific work flow: For larger ore, the processing personnel start the crawler walking mechanism to move to a position close to the ore, and then operate the mechanical arm to drive the large-diameter grabbing mechanical claws close to the ore, and control the power component to open the clamping claws 12 on both sides of the fixed seat 1 to form a larger gap area, and 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 grabbing and moving of the ore, or apply pressure to crush the mine, thereby removing the obstacles encountered in the mining process and improving mining efficiency; similarly, the clamping claws 12 on both sides have a larger gap, which can also be used to grab and transport equipment and materials with larger volume or diameter, etc., reducing labor input and improving work efficiency;

[0037] Furthermore, in the process of grabbing and transporting ore, it is possible that larger ore fragments after crushing are stuck in the gap area between the clamping claws 12, affecting the normal operation of the mechanical claws, and in order to facilitate movement and transportation when processing the ore, the ore may need to be further crushed and refined; therefore, a crushing drill bit 14 is provided on the fixed seat 1 in the gap area between the clamping claws 12. In normal clamping operation, the crushing drill bit 14 is located inside the mounting hole 13. When it is necessary to further crush the ore in the gap between the clamping claws 12, the pushing device 15 is started to move the crushing drill bit 14 along the mounting hole 13 and extend into the gap area between the clamping claws 12 to impact the ore in the gap area; at the same time, the rotating device 151 located at the output end of the pushing device 15 is started, driving the crushing drill bit 14 to rotate, and the rotating crushing drill bit 14 impacts the ore in the gap area. The drilling impact action causes the ore in the gap between the clamping claws 12 to be crushed and refined, thereby improving the processing efficiency of the ore 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;

[0038] Moreover, due to the contact between the crushing drill bit 14 and the ore, fine 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 processing personnel can start the atomizer to form the stored purified water into water mist and fill it into the atomization chamber 132 after acceleration. Then, the purified water mist inside the atomization chamber 132 flows along the dust reduction hole 131 into the gap area between the crushing drill bit 14 and the mounting hole 13, and flows outward along the gap area to flush the surface of the crushing drill bit 14, so that the ore fragments, slag dust and other debris adhered to the surface of the crushing drill bit 14 are separated, thereby reducing the situation where the crushing drill bit 14 after reset brings ore debris into the gap area between the mounting hole 13 and the crushing drill bit 14, resulting in increased movement resistance and wear of the crushing drill bit 14, thereby ensuring the working life of the crushing drill bit 14;

[0039] In addition, the water mist diffused outward from the gap of the mounting hole 13 combines with the dust diffused from 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 the narrow area of the mine tunnel, where excessive dust concentration will increase the working risk factor; further, as the water mist flowing out of the crushing drill bit 14 adheres to the crushed ore and combines with the surface of the ore, the humidity of the ore can be increased. For ores with the possibility of spontaneous combustion, such as coal ore, the humidity of the ore can be increased by spraying water mist, which can suppress the temperature rise of the ore due to frictional heat generated when the ore is subjected to severe impact and crushing processing, reduce the possibility of spontaneous combustion, and ensure the construction safety of the mining process.

[0040] Example 2:

[0041] On the basis of the first embodiment, the crushing drill bit 14 includes a fixed rod 141 and a crushing end 142. The sharp crushing end 142 is located on the end of the fixed rod 141, and the fixed rod 141 is connected to the output end of the rotating device 151.

[0042] The fixing rod 141 is hollow inside, and a connecting hole 143 is provided on the side wall of the fixing rod 141 at a position 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 area of the fixing rod 141 .

[0043] Specific workflow: Based on the specific workflow in Example 1, the fixing rod 141 is used to connect the rotating device 151 and the crushing end 142. It has a round rod-shaped structure and a smooth surface to reduce the resistance to movement in the mounting hole 13. The crushing end 142 plays the role of impact crushing and clamping the ore. Therefore, the crushing end 142 has a sharp structure and can be provided with bumps, grooves or serrated structures on the surface to increase the friction between the crushing end 142 and the ore, thereby improving the crushing impact effect on the ore.

[0044] When the crushing drill bit 14 is extended to impact and crush the clamped ore, the connecting hole 143 on the fixed rod 141 moves to a position close to the dust suppression hole 131. At this time, when the outflowing water mist flows along the gap area between the mounting hole 13 and the fixed rod 141, because the gap area is small, the outflowing water mist causes the air pressure in the gap area to increase. Due to the pressure difference, a part of the water mist airflow mixture will pass through the connecting hole 143 and enter the hollow part inside the fixed rod 141, and then flow along the hollow part inside the fixed rod 141 toward 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 water mist airflow to flow smoothly into the interior of the fixed rod 141 and diffuse outward under the centrifugal action. The slow rotation can reduce the frictional heat generated between the ore and the crushing end 142, and reduce the possibility of ore fragments heating up and spontaneously combusting.

[0045] Because the crushing end 142 is embedded in the ore when processing the ore, the water mist flowing out from the injection hole 144 at this time diffuses outward from the inside of the ore, increasing the contact degree between the water mist and the ore fragments, thereby increasing the humidity of the ore fragments, and prompting the dust generated in the crushing process to accelerate downward sedimentation; and the injection hole 144 can be set on the crushing end 142 in the gap area of the crushing structure such as the protrusion and groove, reducing the direct contact between the injection hole 144 and the ore and thus reducing damage, while prompting the impact of the outflowing water mist to cause the ore fragments and the like stuck in the gap of the crushing structure to fall off, reducing the ore fragments adhering to the crushing end 142, ensuring the normal operation of the crushing end 142, and reducing the debris brought into the mounting hole 13 when the crushing end 142 is reset, thereby reducing the obstruction when the crushing drill bit 14 is reset.

[0046] Example 3:

[0047] 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 evenly provided on the inner wall of the annular groove 133;

[0048] A groove is provided on the inner wall of the annular groove 133 in the gap area between the guide blocks 16 , a cleaning block 17 is provided inside the groove, and cleaning bristles are evenly provided on the side of the cleaning block 17 close to the fixing rod 141 .

[0049] Specific working process: Based on the specific working process in Example 2, when the water mist flowing out of the atomizing 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 block 16 on the inner wall of the annular groove 133, and flows along the gap of the guide block 16. The flowing water mist presents a spiral flow in the annular groove 133 area due to the guiding effect of the guide block 16. This can increase the resistance of external smoke and dust fragments to flow into the interior of the mounting hole 13, and better block the intrusion and penetration of impurities such as external ore fragments and smoke;

[0050] When the crushing drill bit 14 is reset and the crushing end 142 moves to the area close to the annular groove 133, the spirally flowing water mist flushes the surface of the crushing end 142 in multiple directions, so that the ore fragments adhered and embedded in the complex surface of the crushing end 142 are more fully separated under continuous flushing. In particular, for the crushing end 142 type with spiral protrusions on the surface, the spirally flowing flushing water mist has a better cleaning effect than the single vertically flowing water mist, and can more thoroughly remove the fragments adhered to the gap groove position, thereby reducing the situation where the ore fragments penetrate into the interior of the mounting hole 13;

[0051] Furthermore, cleaning blocks 17 are evenly arranged in the spiral gap of the guide block 16, and the cleaning bristles of the cleaning block 17 extend into the gap area of the mounting hole 13 and contact the crushing drill bit 14, so that the cleaning bristles can intercept the debris and smoke from penetrating into the interior of the mounting hole 13; and in the resetting process of the crushing drill bit 14, when the cleaning bristles contact the crushing end 142, the scraping effect of the cleaning bristles causes the smoke and dust fragments adhered to the surface of the crushing end 142 to fall off, and the spirally flowing water mist airflow drives the detached debris and dust to the outside of the mounting hole 13, ensuring the cleanliness of the interior of the mounting hole 13 and the smooth reciprocating movement of the crushing drill bit 14.

[0052] Example 4:

[0053] On the basis of the third embodiment, the cleaning block 17 is rotatably connected to the inner wall of the groove, and a torsion spring is provided at the rotatable connection portion to achieve 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.

[0054] Flushing holes 171 are evenly arranged on the end of the cleaning block 17 near the crushing drill bit 14. The flushing holes 171 are communicated with the cleaning cavity 172 arranged in the hollow part inside the cleaning block 17, and the side wall of the cleaning block 17 is provided with an inflation hole 173, and the entrance of the inflation hole 173 is opposite to the gap area of the guide block 16.

[0055] Specific working process: Based on the specific working process in Example 3, as the air flow mixed with water mist flows along the gap area of the spiral guide 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 air flow, and cooperates with the action of the torsion spring of the rotating connection part to make the cleaning block 17 swing back and forth in the gap of the guide block 16, and drive the cleaning bristles to scrape the surface of the crushing drill bit 14. The swinging cleaning bristles further scrape and remove the debris, smoke and debris adhered to the complex surface of the crushing end 142. At the same time, the centrifugal effect generated by the swing causes the ore fragments and dust adhered to the cleaning bristles to fall off and separate due to the action of the centrifugal force, thereby ensuring the cleaning effect of the cleaning bristles;

[0056] Furthermore, while the impact of the flowing water mist airflow drives the cleaning block 17 to swing, part of the water mist airflow enters the inflation hole 173 set in the cleaning block 17 in the direction of the airflow impact, and the water mist airflow enters the cleaning cavity 172 through the inflation hole 173, and then flows out from the flushing holes 171 evenly set on the end of the cleaning block 17, acting on the contact gap between the cleaning bristles and the crushing end 142, thereby improving the cleaning effect of the cleaning bristles on the crushing end 142, and promptly taking away the debris and dust adhered to the surface of the cleaning bristle gap, to ensure the normal operation of the bristles.

[0057] Embodiment 5:

[0058] On the basis of the fourth embodiment, an extension tube 174 is provided at the end of the cleaning block 17 at the outlet of the flushing hole 171 . The extension tube 174 is a conical tube structure and is made of elastic material. The extension tube 174 is communicated with the inside of the flushing hole 171 .

[0059] The roots of the cleaning bristles are located on the inner wall of the flushing hole 171 , and the ends of the cleaning bristles pass through the flushing hole 171 and the opening of the extension tube 174 to contact the outer surface of the opposite fixing rod 141 .

[0060] A cleaning rod 175 is provided at the opening of the extension tube 174 . The cleaning rod 175 is distributed in a ring around the central axis of the extension tube 174 , and the end of the cleaning rod 175 is a hook block with a curved hook structure.

[0061] Specific working process: Based on the specific working process in Example 4, when the cleaning block 17 approaches the surface of the crushing end 142, the end of the extension tube 174 located at the end of the cleaning block 17 contacts the surface of the crushing end 142, and the impact contact effect of the end of the extension tube 174 can more easily act on the gaps and cavities on the complex surface of the crushing end 142, thereby causing the ore fragments stuck and embedded therein to fall off; for example, the injection hole 144 set on the surface of the crushing end 142 is difficult to clean, so the diameter of the end of the extension tube 174 is set to be smaller than the diameter of the injection hole 144, so that the end of the extension tube 174 contacts and slides with the surface of the crushing end 142, so that the end of the extension tube 174 can be embedded in the opening of the injection hole 144, and the injection hole 144 is cleared and cleaned to ensure the normal operation of the injection hole 144; and the extension tube 174 is set to be made of elastic material, which can be deformed under the action of external force to avoid damage to the extension tube 174 during the scraping process;

[0062] Furthermore, the water mist flow in the cleaning chamber 172 is concentrated and flows out from the extension pipe 174 to form a concentrated airflow that impacts the surface of the crushing end 142 nearby. The extension pipe 174 limits and guides the water mist flow as it approaches the crushing end 142, thereby promoting its concentrated flow and reducing the loss of kinetic energy during the impact flow. This allows the airflow to fully act on the surface of the crushing end 142, thereby improving the cleaning effect of debris adhering to the surface of the crushing end 142.

[0063] Furthermore, the end of the cleaning bristles extends from the opening through the extension tube 174 and acts on the surface of the crushing end 142. The extension tube 174 limits and concentrates the cleaning bristles, thereby reducing the situation in which the cleaning bristles are deformed, twisted, and entangled with each other due to external forces during multiple cleaning processes, making it difficult for the cleaning bristles to fully contact the crushing end 142. While the water mist airflow flows along the extension tube 174, it also passes through the gaps between the cleaning bristles to flush the gap area between the cleaning bristles, thereby reducing the ore fragment particles adhering to the gaps between the cleaning bristles. The airflow impacting along the extension direction of the cleaning bristles can also comb the cleaning bristles, and flows along the gaps on the surface of the cleaning bristles to the contact gap with the crushing end 142, thereby fully cleaning the crushing end 142.

[0064] Furthermore, cleaning rods 175 are evenly distributed at the opening of the extension tube 174. The ends of the cleaning rods 175 are hook blocks with curved structures. In order to better hook the ore fragments adhered to the surface gap of the crushing end 142, the hook blocks at the ends can be made of metal material, and the main body of the cleaning rod 175 is made of elastic material; and the cleaning bristles spreading outward from the opening of the extension tube 174 are embedded in the cleaning rod 175. When the cleaning bristles and the cleaning rod 175 act on the surface of the crushing end 142, they are pressed and swung. The swing of the cleaning rod 175 in the gap between the cleaning bristles can comb the cleaning bristles, reduce the ore fragment particles adhered to the gap between the cleaning bristles, and reduce the situation where the cleaning bristles are entangled and deformed with each other, thereby ensuring the normal operation of the cleaning bristles.

[0065] Example 6:

[0066] Based on the fourth embodiment, a large-caliber grasping mechanical claw control system is provided. The control system is used to control the large-caliber grasping mechanical claw. The control system includes:

[0067] The power unit includes a motor and a hydraulic drive assembly to control the travel and speed of the crawler walking structure, as well as the operation of the gripping claws 12 to achieve the grabbing and crushing operation of the ore;

[0068] The sensing unit includes a position sensor, a temperature and humidity sensor, and a pressure sensor, etc., which can be installed on the surface of the large-caliber grasping mechanical claw or on the crawler-type walking structure outside to collect the working environment data of the large-caliber grasping mechanical claw;

[0069] The intelligent control center can use the existing PLC intelligent control center to control the operation of the large-caliber grasping mechanical claw and the supporting crawler walking mechanism components. The intelligent control center collects data feedback from the perception unit for analysis and calculation, and controls the power unit according to the operator's instructions to achieve normal operation of the large-caliber grasping mechanical claw.

[0070] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A large-caliber grabbing mechanical claw, comprising a fixed base (1), wherein the fixed base (1) is connected to a crawler-type walking mechanism via a hydraulic drive assembly, and is characterized in that: Mounting grooves (11) are provided on both sides of the fixing seat (1), and clamping claws (12) with curved structures are provided inside the mounting 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 mounting grooves (11). The power assembly is controlled by an external controller to drive the clamping claws (12) to rotate, thereby realizing a grasping action; A mounting hole (13) is provided on the fixing seat (1) at a position facing the gap between the clamping claws (12); a crushing drill bit (14) is provided inside the mounting hole (13); a pushing device (15) is provided inside the mounting hole (13); the crushing drill bit (14) is connected to a rotating device (151) on the end of the pushing device (15); The inner wall of the mounting hole (13) is evenly provided with dust-removing holes (131), the openings of the dust-removing holes (131) are directed toward the gap area between the crushing drill bit (14) and the inner wall of the mounting hole (13), and the dust-removing holes (131) are communicated with the atomizing cavity (132) inside the mounting seat, and the atomizing cavity (132) is communicated with the atomizer; The crushing drill bit (14) comprises a fixing rod (141) and a crushing end (142), wherein the sharp crushing end (142) is located on the end of the fixing rod (141), and the fixing rod (141) is connected to the output end of the rotating device (151); The interior of the fixing rod (141) is hollow, and a communicating hole (143) is provided on the side wall of the fixing rod (141) at a position corresponding to the atomizing chamber (132), and an injection hole (144) is provided on the crushing end (142), and the injection hole (144) is communicated with the internal area of the fixing rod (141); The inner wall of the mounting hole (13) is provided with an annular groove (133), and spiral guide blocks (16) are evenly provided on the inner wall of the annular groove (133); The inner wall of the annular groove (133) is provided with a groove in the gap area between the guide blocks (16), a cleaning block (17) is provided inside the groove, and cleaning bristles are evenly provided on one side of the cleaning block (17) close to the fixed rod (141).

2. The large-caliber gripping mechanical claw according to claim 1, characterized in that: The cleaning block (17) is rotatably connected to the inner wall of the groove. Flushing holes (171) are evenly arranged at a position near the crushing drill bit (14) on the end of the cleaning block (17). The flushing holes (171) are communicated with a cleaning cavity (172) arranged in a hollow position inside the cleaning block (17). In addition, an air filling hole (173) is arranged on the side wall of the cleaning block (17), and the inlet of the air filling hole (173) faces the gap area of the guide block (16).

3. The large-caliber gripping mechanical claw according to claim 2, characterized in that: An extension tube (174) is provided at the end of the cleaning block (17) at the outlet of the flushing hole (171). The extension tube (174) is a tapered tube structure and is made of elastic material. The extension tube (174) is in communication with the interior of the flushing hole (171).

4. The large-caliber gripping mechanical claw according to claim 3, characterized in that: The roots of the cleaning bristles are located on the inner wall of the flushing hole (171), and the ends of the cleaning bristles pass through the flushing hole (171) and the opening of the extension tube (174) and contact the outer surface of the opposite fixing rod (141).

5. The large-caliber gripping mechanical claw according to claim 4, characterized in that: A cleaning rod (175) is provided at the opening of the extension tube (174). The cleaning rod (175) is distributed in a ring shape around the central axis of the extension tube (174), and the end of the cleaning rod (175) is bent to present a hook-shaped structure.

6. A large-caliber grasping mechanical claw control system, the control system being used to control the large-caliber grasping mechanical claw according to any one of claims 1 to 5, characterized in that: The control system includes: A power unit, comprising a motor and a hydraulic drive assembly for controlling the travel and speed of the crawler-type walking structure; A sensing unit, comprising a position sensor, a temperature and humidity sensor, and a pressure sensor, for collecting working environment data of the large-caliber gripping mechanical claw; The intelligent control center collects data fed back by the sensing unit for analysis and calculation, and controls the power unit according to the operator's instructions to achieve normal operation of the large-caliber grasping mechanical claw.

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