Intelligent sorting mechanical arm for coal mine resources

Abstract

The invention relates to the technical field of coal mine mechanical arms, in particular to an intelligent coal mine resource sorting mechanical arm which comprises a moving seat and a supporting arm, a rotating motor is installed at the top end of the moving seat, the supporting arm is installed at the output end of the rotating motor, and a sorting mechanism is arranged at one end of the supporting arm. And the sorting mechanism comprises a sealing barrel installed at one end of the supporting arm, an air cylinder is installed at the top end of the interior of the sealing barrel, a mounting plate A is fixed to the bottom end of the sealing barrel, and four sets of joints A are hinged to the periphery of the mounting plate A. An elastic piece drives a magnetic block A to generate intermittent slight up-down movement; the magnetic block A forms soft striking on the surface of the coal gangue, high-frequency slight vibration generated by striking can effectively shake off coal slime and fine dust attached to the surface of the coal gangue, the problem of coal resource waste caused by direct mixing treatment of the coal slime and the coal gangue in traditional operation is avoided, and the resource utilization rate of coal mine separation operation is increased.

Description

Technical Field

[0001] This invention relates to the field of coal mine robotic arms, and in particular to an intelligent coal resource sorting robotic arm. Background Technology

[0002] In the field of coal mining and processing, the efficient separation of coal and gangue is a key link to improve coal quality and ensure the safety of subsequent production. With the popularization of intelligent mining technology, robotic arms, with their flexible working posture and stable operation performance, have gradually replaced the traditional manual sorting method and become the core equipment in coal resource sorting operations. They are widely used in the gangue identification and separation process of coal conveying lines, effectively reducing the intensity of manual labor and improving the continuity and scale of sorting operations.

[0003] However, existing mechanical claws are limited to gripping and transporting gangue. During coal mining, gangue surfaces often have a large amount of coal powder and coal slurry adhering to them due to mining impacts and transport friction. Existing mechanical claws lack specialized processing mechanisms for coal adhering to the gangue surface, resulting in this portion of coal resources being discarded along with the gangue. This not only causes a serious waste of coal resources but also increases the processing cost of gangue stockpiles.

[0004] In view of this, we have studied and improved upon the existing problems to provide an intelligent sorting robot arm for coal mine resources. The aim is to solve the problems and improve the practical value through this technology. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and propose an intelligent sorting robotic arm for coal mine resources.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a coal mine resource intelligent sorting robotic arm, comprising a movable base and a support arm, wherein a rotary motor is installed at the top of the movable base, and the support arm is installed on the output end of the rotary motor; One end of the support arm is provided with a sorting mechanism. The sorting mechanism includes a sealing cylinder installed at one end of the support arm. A cylinder is installed at the top of the inside of the sealing cylinder. A mounting plate A is fixed at the bottom of the sealing cylinder. Four sets of joints A are hinged around the perimeter of the mounting plate A. A mounting plate B is fixed at the output end of the cylinder. Joints B are hinged around the perimeter of the mounting plate B. A positioning rod is fixed at the bottom of the joints A. A gripper A slides on the outer wall of the positioning rod. A pressure sensor is installed at the bottom of the positioning rod. Two sets of symmetrical springs A are sleeved on the outer wall of the positioning rod. The two sets of springs A are respectively fixedly connected to the adjacent gripper A. An auxiliary mechanism is provided below the pressure sensor; A buffer mechanism is provided below the mounting plate A. The buffer mechanism includes a buffer rod located inside the cylinder output end. A magnetic block A is fixed to the bottom end of the buffer rod. A fixing plate is fixedly sleeved on the outer wall of the buffer rod. Multiple sets of springs B are installed between the fixing plate and the mounting plate A. One side of the joint A is provided with an adjustment mechanism, which includes a magnetic block B that is slidably sleeved on the outer wall of the buffer rod, and one side of the joint A is provided with an adjustment component that drives the magnetic block B to move. A cleaning mechanism is provided on one side of the sealing cylinder.

[0007] Preferably, the auxiliary mechanism includes a gripper B that rotates below gripper A, a push plate fixed to the bottom end of gripper A, an inclined plate fixed to the side wall of gripper B, an arc-shaped rod fixed between the inclined plate and gripper B, an elastic plate fixed to the side wall of gripper B, and one end of the elastic plate fixedly connected to the outer wall of the pressure sensor.

[0008] Preferably, the joint A and the gripper B are hinged by a torsion spring, the inclined plate is made of rubber material, and one end of the inclined plate is curved upward.

[0009] Preferably, the output end of the cylinder has a hollow structure, and the buffer rod slides inside the output end of the cylinder.

[0010] Preferably, the adjustment mechanism includes a vertical tube fixed to the side wall of joint A, a piston rod sliding inside the vertical tube, one end of the piston rod being fixed to the side wall of gripper A, a spring rod embedded in the surface of mounting plate B, the telescopic end of the spring rod being fixedly connected to the top of magnetic block B, and an oil supply pipe communicating between the vertical tube and the spring rod.

[0011] Preferably, the cleaning mechanism includes a piston sleeved on the outer wall of the cylinder output end, a sleeve connected to the side wall of the sealing cylinder, a toothed plate sliding inside the sleeve, and an elastic sheet fixed to the side wall of the magnetic block A, the elastic sheet being intermittently engaged with the toothed plate.

[0012] Preferably, an air supply pipe is connected between the sealing cylinder and the gripper A, the gripper A has a hollow structure, and a nozzle is provided on the side wall of the gripper A.

[0013] Preferably, the outer wall of the sealing cylinder is provided with a one-way suction valve, and the connection between the air supply pipe and the sealing cylinder is provided with a one-way exhaust valve.

[0014] Preferably, the bottom end of the magnetic block A is embedded with anti-slip protrusions, which are made of silicon carbide material.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention uses the downward movement of the piston to compress the gas inside the sealing cylinder. The compressed gas flows into the sleeve connected to the sealing cylinder, causing the gas pressure inside the sleeve to rise rapidly. The increased gas pressure pushes the toothed plate upward along the inner wall of the sleeve. During the upward movement of the toothed plate, it drives the elastic plate to move upward, which in turn drives the magnetic block A to move intermittently and slightly up and down. This causes the magnetic block A to gently strike the surface of the coal gangue. The high-frequency slight vibration generated by the strike can effectively shake off the coal slime and fine dust attached to the surface of the coal gangue, avoiding the waste of coal resources caused by the direct mixing of coal slime and gangue in traditional operations, and improving the resource utilization rate of coal mine sorting operations.

[0016] 2. This invention utilizes the downward force exerted by the weight of the coal gangue on the gripper A, causing the gripper A to overcome the elastic resistance of the spring A sleeved on the outer wall of the positioning rod and slide downward along the outer wall of the positioning rod. At this time, the spring A located below the gripper A is compressed. The compressive force generated by the spring A during deformation is directly transmitted to the pressure sensor installed at the bottom of the positioning rod. The pressure sensor converts the sensed pressure signal into an electrical signal and transmits it to the control system of the rotary motor in real time. The control system drives the rotary motor to swing left and right according to the weight data corresponding to the pressure signal, transferring coal gangue of different weight grades to the corresponding sorting areas, thereby improving the automation level and operation efficiency of coal gangue sorting.

[0017] 3. This invention utilizes the gravity of the coal gangue to cause gripper A to slide downwards on the surface of the positioning rod. The downward sliding gripper A drives the push plate to move downwards synchronously, and the push plate applies pressure to the inclined plate, causing the inclined plate to squeeze the arc-shaped rod. The arc-shaped rod then transmits the squeezing force to the gripper B connected to it. Under the action of the squeezing force, gripper B will rotate counterclockwise around the hinge point. The rotating gripper B will gradually approach the surface of the coal gangue, causing the pressure between gripper B and the coal gangue to increase synchronously, thereby forming a secondary clamping and fixing of the coal gangue. The degree of fixing is positively correlated with the weight of the coal gangue, thus effectively preventing slippage. Especially for gripping heavy coal gangue, its enhanced secondary clamping force can accurately match the load requirements and improve the stability of the gripping process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is one of the structural schematic diagrams of the present invention; Figure 3 This is a schematic cross-sectional view of the sealing cylinder structure of the present invention; Figure 4 For the present invention Figure 3 Enlarged structural diagram of section A; Figure 5 This is a three-dimensional structural diagram of gripper A and gripper B of the present invention; Figure 6 This is a partial structural schematic diagram of the present invention; Figure 7 The third part is a schematic diagram of the structure of the present invention.

[0019] Legend: 1. Movable seat; 2. Rotary motor; 3. Support arm; 41. Sealing cylinder; 42. Cylinder; 43. Mounting plate A; 44. Joint A; 45. Mounting plate B; 46. Joint B; 47. Positioning rod; 48. Gripper A; 49. Pressure sensor; 410. Spring A; 51. Gripper B; 52. Push plate; 53. Inclined plate; 54. Arc rod; 55. Elastic plate; 61. Buffer rod; 62. Magnetic block A; 63. Fixing plate; 64. Spring B; 71. Vertical tube; 72. Piston rod; 73. Spring rod; 74. Oil supply pipe; 75. Magnetic block B; 81. Piston; 82. Sleeve; 83. Toothed plate; 84. Elastic sheet; 9. Air supply pipe. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] See Figures 1 to 7 As shown, the present invention provides a smart sorting robot arm for coal mine resources, including a movable base 1, a rotary motor 2 installed at the top of the movable base 1, and a support arm 3 installed at the output end of the rotary motor 2; A sorting mechanism is provided at one end of the support arm 3. The sorting mechanism includes a sealing cylinder 41 installed at one end of the support arm 3. A cylinder 42 is installed at the top inside the sealing cylinder 41. An mounting plate A43 is fixed at the bottom end of the sealing cylinder 41. Four sets of joints A44 are hinged around the mounting plate A43. An mounting plate B45 is fixed at the output end of the cylinder 42. Joints B46 are hinged around the mounting plate B45. A positioning rod 47 is fixed at the bottom end of the joints A44. A gripper A48 slides on the outer wall of the positioning rod 47. A pressure sensor 49 is installed at the bottom end of the positioning rod 47. Two sets of symmetrical springs A410 are sleeved on the outer wall of the positioning rod 47. The two sets of springs A410 are fixedly connected to the adjacent gripper A48 respectively. It should be noted that during the coal gangue sorting operation, the support arm 3 is moved to the location of the coal gangue to be sorted, so that the four sets of grippers A48 are initially aligned with the coal gangue. Then, the cylinder 42 installed at the top of the sealed cylinder 41 is activated. The output end of the cylinder 42 pushes the mounting plate B45, which is fixed to it, to move downward. During the downward movement, the mounting plate B45 drives the hinged joints B46 around its perimeter to rotate synchronously. Since there is a linkage between the joints B46 and the joints A44 hinged around the mounting plate A43, the rotation of the joints B46 will directly drive the... The movable joint A44 rotates around the hinge point with the mounting plate A43, thereby driving the positioning rod 47 fixed at the bottom of the joint A44 and the gripper A48 on the outer wall of the positioning rod 47 to unfold outward. During this process, the unfolding range of the gripper A48 can be adaptively adjusted according to the size of the coal gangue, ensuring that it can adapt to different volumes of materials to be sorted. It can easily adapt to coal gangue of different sizes, effectively solving the problems of poor adaptability of traditional robotic arm grippers and difficulty in grasping irregular materials, and improving the equipment's adaptability to complex working conditions. When the gripper A48 extends to a suitable position against the outer circumference of the coal gangue, the control cylinder 42 retracts, and the mounting plate B45 returns to its original position. Joints B46 and A44 rotate in opposite directions, causing the four sets of grippers A48 to converge synchronously towards the center, achieving stable gripping of the coal gangue. In the gripping state, the weight of the coal gangue itself exerts a downward force on the grippers A48, causing them to overcome the elastic resistance of the spring A410 sleeved on the outer wall of the positioning rod 47 and slide downwards along the outer wall of the positioning rod 47. At this point, the gripper A48 is positioned... The spring A410 below 8 is compressed. The extrusion force generated by the spring A410 during deformation is directly transmitted to the pressure sensor 49 installed at the bottom of the positioning rod 47. The pressure sensor 49 converts the pressure signal it senses into an electrical signal and transmits it to the control system of the rotary motor 2 in real time. The control system drives the rotary motor 2 to swing left and right according to the weight data corresponding to the pressure signal, so as to move coal gangue of different weight grades to the corresponding sorting area, thereby improving the automation level and operation efficiency of coal gangue sorting.

[0022] An auxiliary mechanism is provided below the pressure sensor 49; A buffer mechanism is provided below the mounting plate A43. The buffer mechanism includes a buffer rod 61 located inside the output end of the cylinder 42. A magnetic block A62 is fixed to the bottom end of the buffer rod 61. A fixing plate 63 is fixedly sleeved on the outer wall of the buffer rod 61. Multiple sets of springs B64 are installed between the fixing plate 63 and the mounting plate A43. A distance adjustment mechanism is provided on one side of joint A44. The distance adjustment mechanism includes a magnetic block B75 that is slidably sleeved on the outer wall of buffer rod 61. An adjustment component for driving the magnetic block B75 to move is provided on one side of joint A44. A cleaning mechanism is provided on one side of the sealing cylinder 41.

[0023] In an optional embodiment, the auxiliary mechanism includes a gripper B51 that rotates below the gripper A48. A push plate 52 is fixed to the bottom end of the gripper A48. An inclined plate 53 is fixed to the side wall of the gripper B51. An arc-shaped rod 54 is fixed between the inclined plate 53 and the gripper B51. An elastic plate 55 is fixed to the side wall of the gripper B51. One end of the elastic plate 55 is fixedly connected to the outer wall of the pressure sensor 49.

[0024] It should be noted that as the coal gangue is gradually lifted, the gravity of the coal gangue causes the gripper A48 to slide downwards on the surface of the positioning rod 47. Simultaneously, the downward sliding gripper A48 drives the push plate 52 fixed at its bottom to move downwards in sync. The moving push plate 52 gradually contacts the inclined plate 53 fixed to the side wall of the gripper B51 and continuously applies pressure to the inclined plate 53. Since the inclined plate 53 is made of elastic rubber, it undergoes adaptive deformation under the squeezing action of the push plate 52. The deformed inclined plate 53 further squeezes the arc-shaped rod 54 fixedly connected to it. The arc-shaped rod 54 then transmits the squeezing force to the gripper B51 connected to it. Because the gripper B51 is hinged to the joint A44 via a torsion spring, under the action of the squeezing force, the gripper B51 will rotate counterclockwise around the hinge point. As the rotating jaws B51 move, they gradually approach the surface of the coal gangue, increasing the pressure between them and the gangue. This creates a secondary gripping and fixing effect on the gangue, with the degree of fixation being positively correlated with the weight of the gangue. The greater the weight of the gangue being gripped, the greater the pulling force on the jaws A48. This increases the downward movement of the push plate 52 driven by the jaws A48 and the squeezing force on the inclined plate 53. Consequently, the force transmitted to the jaws B51 through the inclined plate 53 and the arc rod 54 is simultaneously enhanced, ultimately increasing the secondary squeezing force of the jaws B51 on the gangue. This effectively prevents slippage, especially when gripping heavy gangue. The enhanced secondary gripping force precisely matches the load requirements, improving the stability of the gripping process.

[0025] In an optional embodiment, joint A44 and gripper B51 are hinged by a torsion spring. The inclined plate 53 is made of rubber material, and one end of the inclined plate 53 is tilted upward. The torsion spring ensures that when gripper A48 is released and push plate 52 moves upward, gripper B51 can automatically flip outward and reset under the restoring force of the torsion spring, preparing for the next gripping action and ensuring the reliability of the action cycle. The inclined plate 53 is made of rubber material and is elastic. When squeezed by push plate 52, it is easy to deform to transmit pressure and drive gripper B51 to clamp.

[0026] In an optional embodiment, the output end of cylinder 42 has a hollow structure, and the buffer rod 61 slides inside the output end of cylinder 42.

[0027] In an optional embodiment, the adjustment mechanism includes a vertical tube 71 fixed to the side wall of joint A44, a piston rod 72 sliding inside the vertical tube 71, one end of the piston rod 72 being fixed to the side wall of gripper A48, a spring rod 73 embedded in the surface of mounting plate B45, the telescopic end of the spring rod 73 being fixedly connected to the top of magnet B75, and an oil supply pipe 74 communicating between the vertical tube 71 and the spring rod 73.

[0028] It should be noted that as the gripper A48 slides downward along the surface of the positioning rod 47, the gripper A48 simultaneously drives the piston rod 72, which is fixed to it, to move downward. The downward-moving piston rod 72 exerts a squeezing effect on the hydraulic oil inside the vertical tube 71. The squeezed hydraulic oil flows rapidly into the inner cavity of the spring rod 73 through the oil supply pipe 74. The pressure of the hydraulic oil pushes the telescopic end of the spring rod 73 downward, which in turn drives the magnetic block B75 to move downward simultaneously. This causes the distance between the magnetic block B75 and the magnetic block A62 to gradually shorten. According to the characteristics of magnetic force, the shortening of the distance between the two will enhance the phase... The mutual magnetic repulsion force acts on magnetic block A62, causing magnetic block A62 to increase the squeezing force on the top of the coal gangue. The greater the weight of the coal gangue, the greater the downward movement of the gripper A48 and piston rod 72, the stronger the driving force of the hydraulic oil on the spring rod 73, and the shorter the distance between magnetic block B75 and magnetic block A62, resulting in a greater magnetic repulsion force. This allows for the application of appropriate top squeezing force to coal gangue of different weights, preventing damage caused by collisions due to shaking during the sorting process. This enables the robotic arm to adapt to the sorting and gripping needs of coal gangue of different weights and particle sizes under complex working conditions.

[0029] In an optional embodiment, the cleaning mechanism includes a piston 81 sleeved on the outer wall of the output end of the cylinder 42, a sleeve 82 connected to the side wall of the sealing cylinder 41, a toothed plate 83 sliding inside the sleeve 82, and an elastic sheet 84 fixed to the side wall of the magnetic block A62, the elastic sheet 84 and the toothed plate 83 being intermittently engaged.

[0030] It should be noted that during the process of the cylinder 42 driving the gripper A48 to unfold, it will drive the piston 81 to move downward along the inside of the sealing cylinder 41. The downward moving piston 81 will compress the gas inside the sealing cylinder 41. The compressed gas will flow into the sleeve 82 connected to the sealing cylinder 41, causing the air pressure inside the sleeve 82 to rise rapidly. The increased air pressure will push the toothed plate 83 to move upward along the inner wall of the sleeve 82. Since the toothed plate 83 and the elastic plate 84 fixed to the side wall of the magnetic block A62 are in an intermittent engagement state, the upward movement of the toothed plate 83 will drive the elastic plate 84 to move upward, and then the elastic plate 84 will drive the magnetic block A62 to produce intermittent slight up and down movement. This movement will cause the magnetic block A62 to gently strike the surface of the coal gangue. The high-frequency slight vibration generated by the strike can effectively shake off the coal slime and fine dust attached to the surface of the coal gangue, avoiding the waste of coal resources caused by the direct mixing of coal slime and gangue in traditional operations, and improving the resource utilization rate of coal mine sorting operations.

[0031] In an optional embodiment, an air supply pipe 9 is connected between the sealing cylinder 41 and the gripper A48. The gripper A48 has a hollow structure and a nozzle is provided on the side wall of the gripper A48.

[0032] In an optional embodiment, a one-way suction valve is provided on the outer wall of the sealing cylinder 41, and a one-way exhaust valve is installed at the connection between the gas supply pipe 9 and the sealing cylinder 41 to prevent gas from flowing out in reverse and to ensure that the clean airflow acts stably on the surface of the coal gangue.

[0033] It should be noted that when the gripper A48 unfolds to prepare to grab material, it drives the telescopic end of the cylinder 42 and the piston 81 fixed thereon to move downwards inside the sealed cylinder 41. This process generates negative pressure inside the sealed cylinder 41, and external air is drawn into the cylinder for temporary storage through the one-way suction valve on its outer wall. Subsequently, when the gripping action is completed and the gripper A48 retracts to hold the material, the piston 81 moves upwards, entering the compression stroke. The piston 81 compresses the air temporarily stored in the sealed cylinder 41, forming a pressurized airflow. This airflow opens the one-way exhaust valve and is forcibly transported to the interior of the hollow gripper A48 through the air supply pipe 9, and finally ejected at high speed from the nozzle on the side wall of the gripper A48, thereby further blowing off the coal powder and dust adhering to the surface of the grabbed coal gangue. This achieves simultaneous gripping and cleaning, improves the overall efficiency of coal mine sorting operations, and reduces operating costs.

[0034] In an optional embodiment, the bottom end of the magnetic block A62 is embedded with anti-slip protrusions made of silicon carbide. The anti-slip protrusions can increase the contact friction between the bottom end of the magnetic block A62 and the surface of the coal gangue. Silicon carbide has high hardness and strong wear resistance, which can prevent the protrusions from wearing out and failing during long-term contact friction. At the same time, its high temperature resistance and corrosion resistance are suitable for the complex working conditions of coal mines, extending the service life of the magnetic block A62.

[0035] Working principle: When performing coal gangue sorting operation, the support arm 3 is moved to the location of the coal gangue to be sorted, so that the four sets of grippers A48 are initially aligned with the coal gangue. Then, the cylinder 42 installed at the top of the sealed cylinder 41 is activated. The output end of the cylinder 42 pushes the mounting plate B45 fixed thereto to move downward. During the downward movement, the mounting plate B45 drives the joints B46 hinged around it to rotate synchronously. Since there is a linkage between the joints B46 and the joints A44 hinged around the mounting plate A43, the rotation of the joints B46 will directly drive the joints A44 to rotate around the hinge point with the mounting plate A43 as the axis, thereby driving the positioning rod 47 fixed at the bottom of the joints A44 and the grippers A48 on the outer wall of the positioning rod 47 to unfold outward. During this process, the unfolding range of the grippers A48 can be adaptively adjusted according to the size of the coal gangue. When the gripper A48 extends to a suitable position to fit the outer circumference of the coal gangue, the control cylinder 42 retracts, and the mounting plate B45 returns to its original position. The joint B46 rotates in opposite directions to the joint A44, causing the four sets of grippers A48 to converge towards the center synchronously, thus achieving stable gripping of the coal gangue. In the gripping state, the weight of the coal gangue itself will exert a downward force on the gripper A48, causing the gripper A48 to overcome the elastic resistance of the spring A410 sleeved on the outer wall of the positioning rod 47 and slide downward along the outer wall of the positioning rod 47. At this time, the spring A410 located below the gripper A48 is compressed. The extrusion force generated by the spring A410 during deformation is directly transmitted to the pressure sensor 49 installed at the bottom of the positioning rod 47. The pressure sensor 49 converts the pressure signal it senses into an electrical signal and transmits it to the control system of the rotary motor 2 in real time. The control system drives the rotary motor 2 to swing left and right according to the weight data corresponding to the pressure signal, so as to move coal gangue of different weight grades to the corresponding sorting area. As the coal gangue is gradually lifted, the gravity of the coal gangue causes the gripper A48 to slide downwards on the surface of the positioning rod 47. Simultaneously, the downward sliding gripper A48 drives the push plate 52 fixed at its bottom to move downwards in sync. The moving push plate 52 gradually contacts the inclined plate 53 fixed to the side wall of the gripper B51 and continuously applies pressure to the inclined plate 53. Because the inclined plate 53 is made of elastic rubber, it undergoes adaptive deformation under the squeezing action of the push plate 52. The deformed inclined plate 53 further squeezes the arc-shaped rod 54 fixedly connected to it. The arc-shaped rod 54 then transmits the squeezing force to the gripper B51 connected to it. A torsion spring connects the gripper B51 to the joint A44. The hinged joint allows the gripper B51 to rotate counterclockwise around the hinge point under the pressure of the clamping force. The rotating gripper B51 gradually approaches the surface of the coal gangue, increasing the pressure between the gripper B51 and the coal gangue. This results in a secondary clamping and fixing of the coal gangue, with the degree of fixing being positively correlated with the weight of the coal gangue. The greater the weight of the coal gangue being gripped, the greater the pulling force of the coal gangue on the gripper A48. The distance that the gripper A48 drives the pusher 52 to move downward and the pressure on the inclined plate 53 also increase. Consequently, the force transmitted to the gripper B51 through the inclined plate 53 and the arc rod 54 is simultaneously enhanced, ultimately increasing the secondary clamping force of the gripper B51 on the coal gangue. As the gripper A48 slides downward along the surface of the positioning rod 47, the gripper A48 simultaneously drives the piston rod 72, which is fixed to it, to move downward. The moving piston rod 72 exerts a squeezing effect on the hydraulic oil inside the vertical pipe 71. The squeezed hydraulic oil flows rapidly into the inner cavity of the spring rod 73 through the oil supply pipe 74. The pressure of the hydraulic oil pushes the telescopic end of the spring rod 73 to move downward, which in turn drives the magnetic block B75 to move downward synchronously. This causes the distance between the magnetic block B75 and the magnetic block A62 to gradually shorten. According to the characteristics of magnetic force, the shortening of the distance between the two will enhance the magnetic repulsion between them. The magnetic repulsion will act on the magnetic block A62, causing the magnetic block A62 to increase the squeezing force on the top of the coal gangue. The greater the weight of the coal gangue, the greater the downward movement of the gripper A48 and the piston rod 72, the stronger the pushing force of the hydraulic oil on the spring rod 73, the shorter the distance between the magnetic block B75 and the magnetic block A62, and the greater the magnetic repulsion. During the process of the cylinder 42 driving the gripper A48 to unfold, it will drive the piston 81 to move downward along the inside of the sealing cylinder 41. The downward moving piston 81 will compress the gas inside the sealing cylinder 41. The compressed gas will flow into the sleeve 82 connected to the sealing cylinder 41, causing the air pressure inside the sleeve 82 to rise rapidly. The increased air pressure will push the toothed plate 83 to move upward along the inner wall of the sleeve 82. Since the toothed plate 83 and the elastic plate 84 fixed to the side wall of the magnetic block A62 are in an intermittent engagement state, the toothed plate 83 will drive the elastic plate 84 to move upward during the upward movement. In turn, the elastic plate 84 will drive the magnetic block A62 to produce intermittent slight up and down movement. This movement will cause the magnetic block A62 to gently strike the surface of the coal gangue. When the gripper A48 unfolds to prepare to grasp material, it drives the telescopic end of the cylinder 42 and the piston 81 fixed thereon to move downwards inside the sealed cylinder 41. This process generates negative pressure inside the sealed cylinder 41, and external air is drawn into the cylinder and temporarily stored through the one-way suction valve on its outer wall. Subsequently, when the grasping action is completed and the gripper A48 retracts to hold the material, the piston 81 moves upwards, entering the compression stroke. The piston 81 compresses the air temporarily stored in the sealed cylinder 41, forming a pressurized airflow; this airflow opens the one-way exhaust valve and is forcibly transported to the interior of the hollow gripper A48 through the air supply pipe 9, and finally ejected at high speed from the nozzle on the side wall of the gripper A48.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart sorting robot arm for coal mine resources, comprising a movable base (1) and a support arm (3), characterized in that: A rotary motor (2) is installed at the top of the movable seat (1), and the support arm (3) is installed on the output end of the rotary motor (2); One end of the support arm (3) is provided with a sorting mechanism. The sorting mechanism includes a sealing cylinder (41) installed at one end of the support arm (3). A cylinder (42) is installed at the top of the inside of the sealing cylinder (41). A mounting plate A (43) is fixed at the bottom of the sealing cylinder (41). Four sets of joints A (44) are hinged around the mounting plate A (43). A mounting plate B (45) is fixed at the output end of the cylinder (42). Joints B (46) are hinged around the mounting plate B (45). A positioning rod (47) is fixed at the bottom of the joints A (44). A gripper A (48) slides on the outer wall of the positioning rod (47). A pressure sensor (49) is installed at the bottom of the positioning rod (47). Two sets of symmetrical springs A (410) are sleeved on the outer wall of the positioning rod (47). The two sets of springs A (410) are respectively fixedly connected to the adjacent gripper A (48). An auxiliary mechanism is provided below the pressure sensor (49); A buffer mechanism is provided below the mounting plate A (43). The buffer mechanism includes a buffer rod (61) located inside the output end of the cylinder (42). A magnetic block A (62) is fixed at the bottom end of the buffer rod (61). A fixing plate (63) is fixedly sleeved on the outer wall of the buffer rod (61). Multiple sets of springs B (64) are installed between the fixing plate (63) and the mounting plate A (43). The joint A (44) is provided with an adjustment mechanism on one side, the adjustment mechanism includes a magnetic block B (75) that is slidably sleeved on the outer wall of the buffer rod (61), and an adjustment component for driving the magnetic block B (75) to move is provided on one side of the joint A (44). A cleaning mechanism is provided on one side of the sealing cylinder (41).

2. The intelligent sorting robotic arm for coal mine resources according to claim 1, characterized in that: The auxiliary mechanism includes a gripper B (51) that rotates below gripper A (48). A push plate (52) is fixed to the bottom end of gripper A (48). An inclined plate (53) is fixed to the side wall of gripper B (51). An arc-shaped rod (54) is fixed between the inclined plate (53) and gripper B (51). An elastic plate (55) is fixed to the side wall of gripper B (51). One end of the elastic plate (55) is fixedly connected to the outer wall of the pressure sensor (49).

3. The intelligent sorting robotic arm for coal mine resources according to claim 2, characterized in that: The joint A (44) and the gripper B (51) are hinged by a torsion spring. The inclined plate (53) is made of rubber material and one end of the inclined plate (53) is curved upward.

4. The intelligent sorting robotic arm for coal mine resources according to claim 1, characterized in that: The output end of the cylinder (42) adopts a hollow structure, and the buffer rod (61) slides inside the output end of the cylinder (42).

5. The intelligent sorting robotic arm for coal mine resources according to claim 1, characterized in that: The adjustment mechanism includes a vertical tube (71) fixed to the side wall of joint A (44), a piston rod (72) sliding inside the vertical tube (71), one end of the piston rod (72) being fixed to the side wall of gripper A (48), a spring rod (73) embedded in the surface of mounting plate B (45), the telescopic end of the spring rod (73) being fixedly connected to the top of magnetic block B (75), and an oil supply pipe (74) connecting the vertical tube (71) and the spring rod (73).

6. The intelligent sorting robotic arm for coal mine resources according to claim 1, characterized in that: The cleaning mechanism includes a piston (81) sleeved on the outer wall of the output end of the cylinder (42), a sleeve (82) connected to the side wall of the sealing cylinder (41), a toothed plate (83) sliding inside the sleeve (82), and an elastic sheet (84) fixed to the side wall of the magnetic block A (62), the elastic sheet (84) and the toothed plate (83) being intermittently engaged.

7. The intelligent sorting robotic arm for coal mine resources according to claim 1, characterized in that: An air supply pipe (9) is connected between the sealing cylinder (41) and the gripper A (48). The gripper A (48) has a hollow structure and a nozzle is provided on the side wall of the gripper A (48).

8. The intelligent sorting robotic arm for coal mine resources according to claim 7, characterized in that: The outer wall of the sealing cylinder (41) is provided with a one-way suction valve, and a one-way exhaust valve is installed at the connection between the air supply pipe (9) and the sealing cylinder (41).

9. The intelligent sorting robotic arm for coal mine resources according to claim 1, characterized in that: The bottom end of the magnetic block A (62) is embedded with anti-slip protrusions, which are made of silicon carbide material.

Images