Hydraulic manipulator for sorting extra-large gangue on ground raw coal manual sorting belt

Abstract

The invention belongs to the technical field of coal gangue sorting, and particularly discloses an oversize gangue sorting hydraulic manipulator for an overground raw coal manual sorting belt, a large swing arm is arranged below a portal frame arranged above the manual sorting belt in a crossing manner, the upper end part of the large swing arm is hinged with a cross beam of the portal frame, and the lower end part of the large swing arm is hinged with the upper end part of a pusher dog; a large swing arm oil cylinder is arranged between the large swing arm and a portal frame cross beam, a large swing arm oil cylinder rod can push the large swing arm to swing left and right, a pusher dog oil cylinder is arranged between the large swing arm and the pusher dog, and under the condition that a belt does not stop, the pusher dog oil cylinder rod can push the pusher dog to push large gangues along a hand selection belt face to push the large gangues out of the belt face. According to the technical scheme, extra-large gangues are rapidly treated, the sorting efficiency is high, potential risks caused by the fact that a manual sorting belt needs to be stopped during manual sorting and the large gangues are manually pushed into a discharging opening are avoided, and the problems that in the grabbing process of an existing mechanical arm, due to the improper grabbing posture, stones cannot be grabbed, and fingers of a mechanical claw collide with the stones are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of coal gangue sorting, and specifically discloses a hydraulic manipulator for sorting extra-large gangue on a raw coal hand-sorting belt on a well. Background Art

[0002] During coal mining and processing, a large amount of gangue is mixed in. Gangue is solid waste discharged during the coal mining and coal washing processes. Usually, raw coal is transported from underground by conveyors to the surface. After crushing and vibratory screening, some raw coal containing large pieces of gangue, anchors and other impurities enters the hand-sorting conveyor. If the gangue is not sorted, the combustion efficiency of the raw coal will be greatly reduced, and it will also cause great pollution to the environment. In addition, the combustion of gangue will produce a large amount of harmful gases, which can cause chronic bronchitis and asthma. On the contrary, if the gangue is sorted out, the low-quality coal and pyrite can be selected, which can be used for power generation and as raw materials for the production of building materials. Therefore, sorting the gangue in the raw coal is an essential step.

[0003] Currently, the main methods for sorting coal gangue include wet sorting, dry sorting, manual sorting, and robotic gripping. The wet sorting method, which primarily includes heavy media and jigging, utilizes the different densities of coal and gangue to separate the two layers by placing the raw coal in a solution. However, this method requires large equipment, complex processes, low sorting efficiency, and environmental pollution. The dry sorting method utilizes dual-energy gamma-ray transmission identification and sorting, taking advantage of the different light transmittances of coal and gangue. This method is expensive, inefficient, and emits radiation. Manual gangue sorting requires belt downtime, is labor-intensive, and prone to misselection or omission. Furthermore, robotic gripping is an alternative, but its effectiveness is unsatisfactory. This is primarily due to the varying shapes, positions, and postures of individual gangue rocks on the conveyor line. During the gripping process, the gripper often collides with rocks, or fails to grasp rocks due to improper gripping posture. Summary of the Invention

[0004] In order to solve the problems in the background technology, the present invention discloses a hydraulic manipulator for sorting extra-large gangue on a manual selection belt of raw coal in a well, comprising a large swing arm and a pusher claw. After the gangue identification unit identifies the gangue, it provides feedback to the control system. The control system instructs the large swing arm and the pusher claw to push the gangue out of the belt surface, thereby realizing the separation of coal and gangue.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: A hydraulic manipulator for sorting extra-large gangue on a manual belt of raw coal in a well, comprising a gantry arranged across the hand-selected belt, a large swing arm being arranged below the gantry, the upper end of the large swing arm being hingedly connected to the gantry crossbeam, the lower end of the large swing arm being hingedly connected to the upper end of a pusher claw, a large swing arm oil cylinder being arranged between the large swing arm and the gantry crossbeam, the tail end of the large swing arm oil cylinder barrel being hingedly connected to the gantry crossbeam, the end of the large swing arm oil cylinder rod being hingedly connected to the left middle portion of the large swing arm, the cylinder rod of the large swing arm oil cylinder being able to push the large swing arm to swing left and right, a pusher claw oil cylinder being arranged between the large swing arm and the pusher claw, the tail end of the pusher claw oil cylinder barrel being hingedly connected to the right middle portion of the large swing arm, the end of the pusher claw oil cylinder rod being hingedly connected to the upper end of the pusher claw, the cylinder rod of the pusher claw oil cylinder being able to push the pusher claw to push the large gangue along the hand-selected belt surface and push the large gangue out of the belt surface.

[0006] Furthermore, the hydraulic manipulator for sorting extra-large gangue on the manual selection belt of raw coal in the well also includes a control system and a gangue identification unit arranged in the feeding direction of the manual selection belt. The gangue identification unit is used to identify gangue in the raw coal. The control system is electrically connected to the controllers of the gangue identification unit, the large swing arm cylinder, the claw cylinder and the manual selection belt respectively to control the operation of the gangue identification unit, the large swing arm cylinder, the claw cylinder and the manual selection belt.

[0007] Furthermore, the hydraulic manipulator for sorting extra-large gangue on the manual belt of raw coal in the well is provided with a swing angle detection component at both ends of the large swing arm. The swing angle detection component is used to sense the extension or retraction status of the corresponding large swing arm cylinder or the claw cylinder. The swing angle detection component is electrically connected to the control system.

[0008] Furthermore, the hydraulic manipulator for sorting extra-large gangue on the manual belt of raw coal in the well, the swing angle detection component includes a pin shaft, the pin shaft is passed through the axial hole of the corresponding hinged hinge A and the hinge B, one end of the pin shaft is fixedly connected to the hinge A through a connecting plate, and a sensing plate is provided at the other end of the pin shaft, and a proximity switch protection box is provided on the outer sleeve of the sensing plate, and the proximity switch protection box is fixedly connected to the hinge B. At least two intrinsically safe proximity switches matched with the sensing plate are provided in the proximity switch protection box, and the intrinsically safe proximity switch senses the extension or retraction state of the large swing arm cylinder or the pusher claw cylinder through the angular position of the corresponding sensing plate.

[0009] Furthermore, the hydraulic manipulator for sorting extra-large gangue on the manual belt of raw coal in the well is provided with ear seat 1 and ear seat 2 at intervals on the left and right sides of the gantry crossbeam. Ear seat 1 and ear seat 2 are respectively detachably connected to the gantry crossbeam. The tail end of the cylinder barrel of the large swing arm is hingedly connected to ear seat 1, and the upper end of the large swing arm is hingedly connected to ear seat 2 through a pin shaft.

[0010] Furthermore, the hydraulic manipulator for sorting extra-large gangue on the manual selection belt of raw coal in the well, under the joint action of the large swing arm cylinder and the claw cylinder, the distance between the end points of the left and right strokes of the claw is not less than the surface width of the manual selection belt, and the lowest point of the claw is higher than the surface height of the manual selection belt.

[0011] Compared with the prior art, the present invention has the following beneficial effects: The present invention is used for the hydraulic manipulator for sorting extra-large gangue on the manual selection belt of raw coal in the well. A large swing arm is arranged under the gantry arranged across the hand-selected belt. The upper end of the large swing arm is hingedly connected to the gantry crossbeam, and the lower end of the large swing arm is hingedly connected to the upper end of the claw. A large swing arm oil cylinder is arranged between the large swing arm and the gantry crossbeam, and the cylinder rod of the large swing arm oil cylinder can push the large swing arm to swing left and right. A claw oil cylinder is arranged between the large swing arm and the claw. Under the condition that the belt does not stop, the cylinder rod of the claw oil cylinder can push the claw to push the large gangue along the hand-selected belt surface to push it out of the belt surface. The extra-large gangue is processed quickly and the sorting efficiency is high, avoiding the potential danger of manual selection requiring the manual selection belt to stop and manually pushing the large gangue into the drop port, and solving the problem that the existing manipulator cannot grab the stone due to improper grabbing posture during the grabbing process and the mechanical claw fingers collide with the stone. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 This is a schematic diagram of the overall structure of the sorting hydraulic manipulator of the present invention; Figure 2 This is a schematic diagram of the structure of the large swing arm swing angle detection component in the present invention; Figure 3 This is a schematic diagram of the structure of the detection component for detecting the shifter claw swing angle in position in the present invention; Figure 4 This is a schematic diagram of the present invention's starting point of pushing gangue with a pusher claw; Figure 5 This is a schematic diagram of the return process of the pusher claw pushing the gangue in the present invention; In the above figure: 1-crossbeam; 2-diagonal brace; 3-large swing arm cylinder; 4-large swing arm; 5-push claw; 6-push claw cylinder; 7-swing angle detection component; 71-pin shaft; 72-sensor plate; 73-proximity switch protection box; 74-intrinsically safe proximity switch; 75-protection box cover; 76-connecting plate; 8-ear seat 1; 9-ear seat 2; 10-column. DETAILED DESCRIPTION

[0014] In order to better understand the present invention, the content of the present invention is further clearly set forth below in conjunction with the examples, but the protection content of the present invention is not limited to the following examples. In the following description, a large number of specific details are provided in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details.

[0015] Combined with attachment Figure 1-5 The present invention describes in detail a hydraulic manipulator for sorting extra-large gangue from a hand-selected belt of raw coal on a well, comprising a gantry mounted across the hand-selected belt, a gantry protection beam 1 and vertical columns 10 arranged at both ends of the beam 1, and inclined braces 2 respectively arranged between the columns 10 and the ground. A large swing arm 4 is arranged below the gantry, and the upper end of the large swing arm 4 is hingedly connected to the gantry beam 1, and the lower end of the large swing arm 4 is hingedly connected to the upper end of the claw 5. A large swing arm oil cylinder 3 is arranged between the large swing arm 4 and the gantry beam 1, and the tail end of the cylinder barrel of the large swing arm oil cylinder 3 is hingedly connected to the gantry beam 1, and the end of the cylinder rod of the large swing arm oil cylinder 3 is hingedly connected to the left middle side of the large swing arm 4. The cylinder rod of the large swing arm oil cylinder 3 can push the large swing arm 4 to swing left and right, and a claw oil cylinder 6 is arranged between the large swing arm 4 and the claw 5, and the tail end of the cylinder barrel of the claw cylinder 6 is hinged to the large swing arm 4 The right side of the middle is hingedly connected, and the rod end of the claw cylinder 6 is hingedly connected to the upper end of the claw 5. The claw cylinder 6 cylinder rod can push the claw 5 to push the large gangue along the hand-selected belt surface to push the large gangue out of the belt surface. The hydraulic pump station controls the valve group to supply oil to the large swing arm cylinder 3 and the claw cylinder 6 according to the program timing. The large swing arm cylinder 3 cylinder rod pushes the large swing arm 4 to swing at high speed. At the same time, the claw cylinder 6 cylinder rod pushes the claw 5 to achieve protective pushing of the claw 5 along the belt surface to push the large gangue out of the belt surface and realize the removal of the gangue. When the large swing arm 4 returns, the claw cylinder 6 cylinder rod is retracted to retract the claw 5 to avoid damage to the hand-selected belt. It also avoids bringing out coal blocks or other items on the belt surface during the return journey. In the process of removing the gangue, it is avoided that the existing manipulator cannot grasp the stone due to inappropriate grasping posture during the grasping process and the mechanical claw fingers collide with the stone; The present invention is used for a hydraulic manipulator for sorting extra-large gangue on a manual belt of raw coal at a well. It adopts a two-axis hydraulic manipulator arm. High-speed hydraulic cylinders are respectively provided on both sides of a large swing arm to avoid the rigid impact of the large gangue when the claws instantaneously push the large gangue. The large swing arm and the claws are driven by a hydraulic system and a high-speed hydraulic cylinder to move, which can absorb the impact caused by high-speed starting and stopping. The hydraulic system adopts a load-sensitive hydraulic pump. When there is no large gangue task, the motor runs close to no-load, and can respond in time when there is a large gangue task. It has a large flow and pressure output, perfectly combines energy saving and reliability, and has high practical value.

[0016] As an optional design, the hydraulic manipulator for sorting extra-large gangue on the hand-selected belt of raw coal on the well is preferably also provided with a control system and a gangue identification unit arranged in the feeding direction of the hand-selected belt. The gangue identification unit is used to identify gangue in the raw coal. It should be noted here that the gangue identification unit can use the existing method of identifying gangue by vision, weight or height. The gangue identification unit is a prior art, so the gangue identification unit is not described in detail here. The control system is electrically connected to the gangue identification unit, the large swing arm oil cylinder 3, the claw oil cylinder 6 and the controller of the hand-selected belt to control the operation of the gangue identification unit, the large swing arm oil cylinder 3, the claw oil cylinder 6 and the hand-selected belt. After the gangue identification unit identifies the gangue, it sends the relevant information of the gangue to the control system. The control system calculates the time for the hand-selection belt to transport the gangue to the hydraulic manipulator for sorting extra-large gangue of the hand-selection belt of raw coal on the well according to the relevant information and position information of the gangue and the running speed of the hand-selection belt. The control system instructs the large swing arm cylinder 3 and the claw cylinder 6 to move according to the calculated time. The cylinder rod of the large swing arm cylinder 3 pushes the large swing arm 4 to swing at high speed. At the same time, the cylinder rod of the claw cylinder 6 pushes the claw 5, so that the claw 5 can protectively push the large gangue along the belt surface, and push the large gangue to the inclined chute dropout port at the edge of the belt surface, so as to realize automatic removal and remote control of the gangue.

[0017] As an optional design, the hydraulic manipulator for sorting extra-large gangue on the manual belt of raw coal on the well is preferably provided with a swing angle detection component 7 at both ends of the large swing arm 4. The swing angle detection component 7 is used to sense the extension or retraction status of the corresponding large swing arm cylinder 3 or the claw cylinder 6. The swing angle detection component 7 is electrically connected to the control system. The control system sends information according to the swing angle detection component 7 to grasp the extension or retraction status of the large swing arm cylinder 3 or the claw cylinder 6 in real time.

[0018] As an optional design, the hydraulic manipulator for sorting extra-large gangue by hand-selecting belts of raw coal on the well is preferred. The swing angle detection component 7 includes a pin 71, and the pin 71 is passed through the axial holes of the corresponding hinged joints A and B. It should be noted here that there are two groups of corresponding hinged joints A and B. When the hinge A is the large swing arm 4, the corresponding hinge B is the ear seat 2 9; when the hinge A is the pusher claw 5, the corresponding hinge B is the large swing arm 4; As attached Figure 1 and 2 As shown, when the hinged component A is the large swing arm 4 and the corresponding hinged component B is the ear seat 2 9, one end of the pin shaft 71 at the upper end of the large swing arm 4 is fixedly connected to the large swing arm 4 through the connecting plate 76. The pin shaft 71 at the upper end of the large swing arm 4 and the large swing arm 4 move synchronously. A sensing plate 72 is provided at the other end of the pin shaft 71 at the upper end of the large swing arm 4. A proximity switch protection box 73 is provided on the outer cover of the sensing plate 72. The end of the proximity switch protection box 73 adjacent to the pin shaft 71 is fixedly connected to the ear seat 2 9. As attached Figure 1 and 3 As shown, when the hinged component A is the pusher claw 5 and the corresponding hinged component B is the large swing arm 4, one end of the pin shaft 71 at the lower end of the large swing arm 4 is fixedly connected to the pusher claw 5 via a connecting plate 76. The pin shaft 71 at the lower end of the large swing arm 4 and the pusher claw 5 move synchronously. A sensing plate 72 is provided at the other end of the pin shaft 71 at the lower end of the large swing arm 4. A proximity switch protection box 73 is provided on the outer shell of the sensing plate 72. The proximity switch protection box 73 at the lower end of the large swing arm 4 is fixedly connected to the lower end of the large swing arm 4. The end of the proximity switch protection box 73 facing away from the pin shaft 71 is detachably connected to a protection box cover 75. At least two intrinsically safe proximity switches 74 that are matched with the sensor plates 72 are provided in the proximity switch protection box 73. The intrinsically safe proximity switches 74 sense the extension or retraction status of the large swing arm cylinder 3 or the pusher claw cylinder 6 by changing the angular position of the corresponding sensor plates 72.

[0019] As an optional design, the hydraulic manipulator for sorting extra-large gangue on the manual belt of raw coal in the well is preferably used. Ear seat 1 8 and ear seat 2 9 are arranged on the left and right sides of the gantry beam 1 at intervals. Ear seat 1 8 and ear seat 2 9 are respectively detachably connected to the gantry beam 1. The tail end of the cylinder barrel of the large swing arm cylinder 3 is hingedly connected to the ear seat 1 8, and the upper end of the large swing arm 4 is hingedly connected to the ear seat 2 9 through the pin shaft 71. Elastic gaskets are also provided between the ear seat 1 8 and the ear seat 2 9 and the gantry beam 1 to prevent vibration generated during the movement of the large swing arm 4 and the large swing arm cylinder 3 from affecting the beam.

[0020] As an optional design, the hydraulic manipulator for sorting extra-large gangue on the manual selection belt of raw coal on the well is preferably used. Under the joint action of the large swing arm cylinder 3 and the claw cylinder 6, the distance between the end points of the left and right strokes of the claw 5 is not less than the surface width of the manual selection belt, and the lowest point of the claw 5 is higher than the surface height of the manual selection belt, ensuring that the claw 5 can push the gangue out of the belt surface of the manual selection belt without causing damage to the belt surface.

[0021] The working process of the present invention is as follows: During operation, after the gangue identification unit identifies the gangue, it sends the relevant information of the gangue to the control system. The control system calculates the time it takes for the hand-selection belt to transport the gangue to the bottom of the hydraulic manipulator for sorting extra-large gangue by hand-selection belt of raw coal on the well according to the relevant information and position information of the gangue and the running speed of the hand-selection belt. The control system instructs the large swing arm cylinder 3 and the claw cylinder 6 to move according to the calculated time, as shown in the attached figure. Figure 4 As shown, the large swing arm oil cylinder 3 pushes the large swing arm 4 to swing at high speed. At the same time, the pusher claw oil cylinder 6 contracts and the pusher claw 5 is lifted to a certain height, so that the pusher claw 5 can protect and push the large gangue along the belt surface, push the large gangue out of the belt surface, realize the automatic removal of the gangue, and avoid scratching the horizontal hand-selected flat belt. After the action is completed, as shown in the attached figure Figure 5As shown, the large swing arm cylinder 3 contracts and pulls the large swing arm 4 back. At the same time, the cylinder rod of the pusher claw cylinder 6 is retracted to retract the pusher claw 5. The large swing arm 4 and the pusher claw 5 return to the initial state and wait for the next work instruction.

[0022] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and are not limiting. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A hydraulic manipulator for sorting large gangue on a belt for manually selecting raw coal at a well, characterized by: Including cross A gantry is provided above the hand-selected belt, and a large swing arm is provided below the gantry. The upper end of the large swing arm is hingedly connected to the gantry crossbeam, and the lower end of the large swing arm is hingedly connected to the upper end of the pusher claw. A large swing arm cylinder is provided between the large swing arm and the gantry crossbeam, and the tail end of the large swing arm cylinder barrel is hingedly connected to the gantry crossbeam, and the rod end of the large swing arm cylinder is hingedly connected to the left middle part of the large swing arm. The cylinder rod of the large swing arm cylinder can push the large swing arm to swing left and right. A pusher claw cylinder is provided between the large swing arm and the pusher claw, and the tail end of the cylinder barrel of the pusher claw cylinder is hingedly connected to the right middle part of the large swing arm, and the rod end of the pusher claw cylinder is hingedly connected to the upper end of the pusher claw. The cylinder rod of the pusher claw cylinder can push the pusher claw to push the large gangue along the hand-selected belt surface and push the large gangue out of the belt surface.

2. The hydraulic manipulator for sorting oversized gangue on a belt for manually selecting raw coal on a well according to claim 1 is characterized by: It also includes a control system and a gangue identification unit arranged in the feeding direction of the hand-selected belt. The gangue identification unit is used to identify gangue in the raw coal. The control system is electrically connected to the controllers of the gangue identification unit, the large swing arm cylinder, the claw cylinder and the hand-selected belt respectively to control the operation of the gangue identification unit, the large swing arm cylinder, the claw cylinder and the hand-selected belt.

3. The hydraulic manipulator for sorting large gangue on the raw coal hand-selecting belt of claim 2 is characterized in that: Both ends of the large swing arm are respectively provided with a swing angle detection component, which is used to sense the extension or retraction status of the corresponding large swing arm cylinder or pusher claw cylinder. The swing angle detection component is electrically connected to the control system.

4. The hydraulic manipulator for sorting oversized gangue on a belt for manually selecting raw coal on a well according to claim 3 is characterized by: The swing angle detection component includes a pin shaft, which is inserted into the axial holes of the corresponding hinged joints A and B. One end of the pin shaft is fixedly connected to the hinged joint A through a connecting plate. A sensing plate is provided at the other end of the pin shaft. A proximity switch protection box is provided on the outer sleeve of the sensing plate. The proximity switch protection box is fixedly connected to the hinged joint B. At least two intrinsically safe proximity switches matching the sensing plate are provided in the proximity switch protection box. The intrinsically safe proximity switch senses the extension or retraction state of the large swing arm cylinder or the pusher claw cylinder through the angular position of the corresponding sensing plate.

5. The hydraulic manipulator for sorting large gangue on the raw coal hand-selecting belt of the well according to claim 4 is characterized in that: Ear seat one and ear seat two are arranged on the left and right sides of the gantry crossbeam at intervals. Ear seat one and ear seat two are respectively detachably connected to the gantry crossbeam. The tail end of the large swing arm cylinder is hingedly connected to ear seat one, and the upper end of the large swing arm is hingedly connected to ear seat two through a pin shaft.

6. The hydraulic manipulator for sorting large gangue on the raw coal hand-selecting belt of any one of claims 1 to 5 is characterized in that: Under the joint action of the large swing arm cylinder and the pusher claw cylinder, the distance between the end points of the left and right strokes of the pusher claw is not less than the surface width of the hand-selected belt, and the lowest point of the pusher claw is higher than the surface height of the hand-selected belt.

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