A mine-used U-shaped steel hydraulic clamping hand and a clamping method

Abstract

The application relates to the field of mechanical hands for coal mine supporting equipment, and discloses a mine-used hydraulic U-shaped steel clamping hand and a clamping method, which comprises a fixing frame, the top of the fixing frame is provided with a mounting frame for being mounted at the end of a mechanical arm, the inside of the fixing frame is provided with a hydraulic oil cylinder and a driving frame, the hydraulic oil cylinder drives the driving frame to reciprocate, two connecting rods are symmetrically hinged on the two sides of the driving frame, two transmission frames are symmetrically hinged on the two sides of the fixing frame, the upper end of each transmission frame is hinged with the connecting rod on the same side, a pair of clamping jaws are arranged at the lower part of the fixing frame, the inner side of the top of each clamping jaw is hinged with the bottom of the transmission frame on the same side, and the outer side of the top is hinged with the fixing frame through a clamping jaw connecting plate; the shape of the clamping surface of the clamping jaw is matched with the shape of the U-shaped steel. The hydraulic clamping hand is compact in structure, small in space occupation, can adapt to the narrow operation environment of a coal mine tunnel, can realize stable clamping of the U-shaped steel through the locking cooperation of the positioning part, the clamping jaw clamping groove and the U-shaped steel, the clamping jaw is convenient to replace, and is suitable for U-shaped steels of different specifications.

Description

Technical Field

[0001] This application relates to the field of robotic arms for coal mine support equipment, and in particular to a hydraulic gripper for mining U-shaped steel and a gripping method. Background Technology

[0002] After coal mine roadway excavation is completed, roadway support work must be carried out immediately to ensure construction safety. U-shaped steel supports are widely used in underground coal mine roadway support construction due to their good compressibility and load-bearing capacity. However, the traditional erection of U-shaped steel supports mainly relies on manual handling, splicing, and installation, which is not only extremely labor-intensive and inefficient but also poses high safety risks, hindering the further development of safe and efficient coal mining.

[0003] With the advancement of intelligent coal mine construction, automated equipment for support operations has emerged in recent years. For example, Chinese invention patent CN117261729A discloses a self-carrying and installation robot for mining pipelines, which includes a drive frame, a tracked walking mechanism, and a gripping mechanism. The tracked walking mechanism is installed below the drive frame to realize forward, backward, and turning functions. The gripping mechanism is installed above the drive frame and serves as the main operating mechanism, completing the gripping, lifting, and swinging of the pipeline. The gripping mechanism includes a rotating base, a telescopic arm, and a multi-diameter manipulator. The rotating base is installed on the drive frame, the telescopic arm is installed on the rotating base, and the multi-diameter manipulator is installed at the end of the telescopic arm, enabling the gripping function of multi-diameter pipelines.

[0004] However, the above-mentioned support equipment still has some shortcomings in practical applications: on the one hand, its manipulator has a relatively complex overall structure and large size, which is prone to interference in the case of limited height and extremely narrow working space in coal mine roadways, making it difficult to flexibly complete the gripping and moving actions of the support pipe; on the other hand, the manipulator is mainly designed for circular pipes, and the gripper adopts a multi-arc structure to adapt to circular pipes of different diameters, but U-shaped steel has an open cross section and specific flange and web structure, and the arc-shaped gripper is difficult to form a stable gripping and fixing, which can easily lead to gripping deviation or falling off. Summary of the Invention

[0005] To address the issues of existing mining support equipment's gripping manipulators being complex in structure, large in size, difficult to operate flexibly in narrow tunnels, and unsuitable for stable gripping of U-shaped steel, this application provides a mining U-shaped steel hydraulic gripper and gripping method.

[0006] On the one hand, the hydraulic clamp for mining U-shaped steel provided in this application adopts the following technical solution: A mining U-shaped steel hydraulic gripper includes a fixed frame with a mounting bracket on top, which is mounted on the end of a robotic arm. The fixed frame contains a hydraulic cylinder and a drive frame. The top of the hydraulic cylinder is fixedly mounted on the top of the fixed frame, and the drive frame is located at the extended end of the hydraulic cylinder's piston rod. The hydraulic cylinder drives the drive frame to reciprocate along the extension direction of the robotic arm's end. Two connecting rods are symmetrically hinged to each side of the drive frame, and two transmission frames are symmetrically hinged to each side of the fixed frame. The upper end of each transmission frame is hinged to the other end of the connecting rod on the same side. A pair of grippers are provided at the lower part of the fixed frame. The inner top of each gripper is hinged to the bottom of the transmission frame on the same side, and the outer top of each gripper is hinged to the fixed frame via a gripper connecting plate. The shape of the gripper's clamping surface is adapted to the shape of the U-shaped steel.

[0007] By adopting the above technical solution, the hydraulic cylinder drives the drive frame to move, and the linkage mechanism composed of connecting rods and transmission frame drives the grippers to open and close synchronously, realizing the clamping and release of U-shaped steel. The overall structure is compact, the transmission chain is short, and the hydraulic cylinder, drive frame, connecting rod and transmission frame are all integrated inside or on both sides of the fixed frame, occupying little space. It can adapt to the working conditions of limited height and narrow working space in coal mine roadways, effectively avoiding interference with the surrounding environment; in addition, since the shape of the gripper clamping surface is adapted to the shape of U-shaped steel, it can be specifically used for the stable clamping of U-shaped steel.

[0008] Optionally, the grippers are provided in at least two pairs.

[0009] By adopting the above technical solution, on the one hand, multiple pairs of grippers are distributed along the length of the U-shaped steel, dispersing the force and improving the gripping stability, avoiding deflection or slippage caused by single-point gripping; on the other hand, multiple pairs of grippers can be synchronously driven by a single hydraulic cylinder, eliminating the need to set up a separate power source for each pair of grippers, thereby simplifying the hydraulic system structure, reducing the overall manufacturing cost and failure rate, and ensuring the consistency and coordination of the actions of each gripper. At the same time, driving multiple grippers with a single cylinder avoids the stacking of multiple cylinders and their supporting pipelines in a limited space, greatly reducing the overall size and weight of the hydraulic gripper, and making it easier to flexibly avoid obstacles in the narrow working environment of coal mine roadways.

[0010] Optionally, the fixing frame includes two parallel front plates and two parallel side plates. The side plates are fixedly connected between the two front plates. The hydraulic cylinder is located within the space enclosed by the four plates. The two front plates are fixedly connected by a connecting plate. A limit hole is provided on the connecting plate. The cylinder body of the hydraulic cylinder passes through the limit hole. A fixing pin is provided between the tops of the two side plates. The top of the hydraulic cylinder body is hinged to the fixing pin.

[0011] By adopting the above technical solution, the fixing frame forms a stable box structure, the limiting hole radially limits the hydraulic cylinder, and the fixing pin provides hinge support, ensuring the stability and centering of the hydraulic cylinder's operation.

[0012] Optionally, the bottom surfaces of the two front plates are provided with positioning parts, and the bottom ends of the grippers facing the other gripper are provided with locking grooves. When clamping the U-shaped steel, the positioning parts are used to abut against the web of the U-shaped steel, and the two locking grooves are used to lock the upturned flange ends on both sides of the U-shaped steel.

[0013] By adopting the above technical solution, the positioning part abuts against the web of the U-shaped steel to achieve precise vertical positioning, and the locking groove engages with the flange end to restrict horizontal and rotational freedom. The two work together to form a locking structure. This special design for U-shaped steel structures can effectively prevent the U-shaped steel from shifting, sliding or twisting, significantly improve the clamping stability of the U-shaped steel, and avoid gripping deviation or falling off.

[0014] Optionally, the drive frame includes two parallel connecting plates and a partition plate connecting the two connecting plates. There are two partition plates. The bottom of the hydraulic cylinder is located in the space enclosed by the two connecting plates and the two partition plates. The connecting plates are T-shaped. Each of the three ends of the connecting plate has a pin hole. The three sets of corresponding pin holes on the two connecting plates are connected by pins. The pins on both sides are hinged to one end of two connecting rods, and the pin at the bottom is hinged to the piston rod end of the hydraulic cylinder.

[0015] By adopting the above technical solution, the T-shaped connecting plate structure is compact and the force is reasonable, which can evenly transmit the linear motion of the hydraulic cylinder to the connecting rods on both sides, ensuring that the grippers on both sides move synchronously.

[0016] Optionally, the transmission frame includes two parallel curved arms, each curved arm being a plate-like structure with a bend in the middle. Pin holes are provided at both ends and at the bend in the middle of each curved arm. The three sets of corresponding pin holes on the two curved arms are connected by pins. The end of the connecting rod furthest from pin one is hinged to a pin located above. The two ends of the pin located in the middle are respectively hinged to two front plates. The two ends of the pin located below are respectively hinged to the same side of each pair of grippers.

[0017] By adopting the above technical solution, the curved arm, as a lever transmission component, forms a lever amplification mechanism with the connecting rod and transmission frame, which efficiently transmits and amplifies the output force of the hydraulic cylinder to the gripper, enabling the gripper to reliably clamp the heavy U-shaped steel.

[0018] Optionally, the two curved arms are connected by a reinforcing tube.

[0019] By adopting the above technical solution, the overall rigidity and synchronization of the tube-reinforced transmission frame are enhanced, avoiding clamping misalignment caused by inconsistent movements of the two bending arms.

[0020] Optionally, the gripper connecting plate has pin holes three at both ends, and the upper pin hole three is hinged to the adjacent front plate by the pin hole three; the gripper has two pin holes four, the inner pin hole four is hinged to the lower pin two in the transmission frame on the same side, and the outer pin holes four on all grippers on the same side in each pair are hinged by the pin four, and the lower pin hole three on the gripper connecting plate is also hinged to the pin four on the same side.

[0021] By adopting the above technical solution, the gripper connecting plate, gripper, and front plate form a four-bar constraint, which enables the gripper to rotate around a fixed axis under the drive of the transmission frame, thereby achieving a precise gripping trajectory.

[0022] Optionally, both ends of the lower pins three and four are fitted with elastic retaining rings, the elastic retaining rings being open, and both ends of the pins three and four having slots for fitting the elastic retaining rings.

[0023] By adopting the above technical solution, the elastic retaining ring can quickly limit the axial movement of the pin, and the open design makes it easy to disassemble. When changing different sizes of clamps, there is no need to disassemble other parts, making the operation simple and quick.

[0024] On the other hand, this application also provides a clamping method using the above-mentioned mining U-shaped steel hydraulic gripper, including the following steps: S1, Install the mounting bracket onto the end of the robotic arm; S2, activate the hydraulic cylinder to extend or retract its piston rod, thereby driving the drive frame to reciprocate along the extension direction of the end of the robotic arm; S3, the upper end of the transmission frame on the same side is pushed to swing by the connecting rods on both sides of the drive frame. The transmission frame rotates around the hinge point between its middle part and the fixed frame. Its lower end drives the inner side of the top of each gripper to move. And through the constraint of the gripper connecting plate, each gripper rotates around its hinge point with the fixed frame, so as to realize the synchronous opening and closing of the pair of grippers. S4, when clamping the U-shaped steel, the positioning part at the bottom of the fixing frame abuts against the web of the U-shaped steel, and at the same time, the locking groove at the bottom of the gripper engages with the raised flange ends on both sides of the U-shaped steel to form a locking structure to stably clamp the U-shaped steel.

[0025] By adopting the above technical solution, the clamping method of this application utilizes a single hydraulic cylinder to drive multiple sets of connecting rods integrated in the fixed frame to link with the transmission frame, thereby achieving synchronous and precise opening and closing of multiple grippers. While ensuring consistency of action and simplifying the hydraulic system, it significantly reduces the overall volume and can adapt to operations in narrow coal mine roadways. Furthermore, during clamping, the positioning part abuts against the web of the U-shaped steel, and the locking groove engages with the flange end to form a multi-directional locking structure to effectively prevent the U-shaped steel from shifting and twisting. At the same time, the driving force is efficiently transmitted to the grippers by lever amplification effect of the transmission frame, thereby meeting the stable and reliable clamping requirements of heavy U-shaped steel.

[0026] This application includes at least one of the following beneficial technical effects: 1. The entire hydraulic gripper has a compact structure. The hydraulic cylinder and transmission components are integrated inside or on both sides of the fixed frame. At the same time, through the multi-hinge linkage mechanism of hydraulic cylinder-drive frame-connecting rod-transmission frame-gripper connecting plate-gripper, one hydraulic cylinder drives multiple grippers to move synchronously, which greatly reduces the overall space occupied and adapts to the narrow working environment of coal mine roadways. 2. The positioning part abuts against the web of the U-shaped steel and the locking groove engages with the flange end to form a locking structure, which effectively prevents the U-shaped steel from moving, slipping or twisting, avoids gripping deviation or falling off, and the multiple pairs of claws distribute the force, further improving the stability of clamping the U-shaped steel; 3. A lever amplification mechanism composed of connecting rods and transmission frame is adopted to efficiently amplify the output force of hydraulic cylinder, meeting the reliable clamping requirements of heavy U-shaped steel; 4. The pin adopts an open elastic retaining ring for axial positioning. When changing different specifications of clamps, there is no need to disassemble other parts, making the operation simple and quick, and adaptable to various U-shaped steel models. Attached Figure Description

[0027] To more clearly illustrate the technical solution of this patent, the drawings used in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this patent. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this application; Figure 2 This is a partial structural diagram of Embodiment 1 of this application, mainly used to show the fixing frame, mounting frame and drive frame; Figure 3 This is a partial front view of Embodiment 1 of this application, mainly used to show the transmission frame; Figure 4 This is a partial structural diagram of Embodiment 1 of this application, mainly used to illustrate the drive frame; Figure 5This is a partial structural diagram of Embodiment 1 of this application, mainly used to illustrate the transmission frame; Figure 6 This is a partial structural diagram of Embodiment 1 of this application, mainly used to show the gripper connecting plate and the gripper; Figure 7 for Figure 1 The enlarged view of part A in the middle is mainly used to show the elastic retaining ring and the slot.

[0029] Explanation of main reference numerals: 1. Fixing frame; 11. Front plate; 12. Side plate; 13. Connecting plate; 14. Limiting hole; 15. Reinforcing plate; 16. Fixing pin; 17. Positioning part; 2. Mounting frame; 21. Baffle; 22. Mounting plate; 3. Hydraulic cylinder; 4. Drive frame; 41. Connecting plate; 42. Partition plate; 43. Pin hole one; 44. Pin one; 5. Connecting rod; 6. Transmission frame; 61. Bent arm; 62. Reinforcing tube; 63. Pin hole two; 64. Pin two; 7. Grip plate; 71. Pin hole three; 72. Pin three; 8. Grip; 81. Pin hole four; 82. Pin four; 83. Snap-fit ​​groove; 91. Elastic retaining ring; 92. Snap-fit ​​groove; 10. U-shaped steel. Detailed Implementation

[0030] To make the objectives, features, and advantages of this patent more apparent and understandable, the technical solutions of this patent will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this patent, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0031] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0032] Example 1 Embodiment 1 of this application discloses a hydraulic clamp for mining U-shaped steel.

[0033] Reference Figure 1A mining U-shaped steel hydraulic gripper includes a fixed frame 1, with a mounting frame 2 on top of the fixed frame 1. The fixed frame 1 is mounted to the end of a robotic arm via the mounting frame 2. A hydraulic cylinder 3 and a drive frame 4 are housed inside the fixed frame 1. The top of the hydraulic cylinder 3 is fixedly mounted on the top of the fixed frame 1, and the drive frame 4 is located at the extended end of the piston rod of the hydraulic cylinder 3. The hydraulic cylinder 3 drives the drive frame 4 to reciprocate along the extension direction of the end of the robotic arm. Two connecting rods 5 are symmetrically hinged to both sides of the drive frame 4, and two transmission frames 6 are symmetrically hinged to both sides of the fixed frame 1. The upper end of each transmission frame 6 is hinged to the other end of the connecting rod 5 on the same side. A pair of grippers 8 are provided at the lower part of the fixed frame 1. The inner top of each gripper 8 is hinged to the bottom of the transmission frame 6 on the same side, and the outer top of each gripper 8 is hinged to the fixed frame 1 via a gripper connecting plate 7. At least two pairs of grippers 8 are provided; in this embodiment, two pairs of grippers 8 are provided.

[0034] When the piston rod of the hydraulic cylinder 3 extends, the drive frame 4 is pushed and moves along the extension direction of the end of the robotic arm. The drive frame 4, through the connecting rods 5 on both sides, pushes the transmission frame 6 on the same side to swing outward around its hinge point with the fixed frame 1. The lower end of the transmission frame 6 swings inward, thereby causing the inner top of each pair of grippers 8 to close inward. Under the constraint of the gripper connecting plate 7, the grippers 8 rotate around its hinge point with the fixed frame 1, so that the bottom of the grippers 8 clamps the U-shaped steel 10. When the piston rod retracts, the drive frame 4 moves in the opposite direction, the transmission frame 6 swings in the opposite direction, and the grippers 8 open to release the U-shaped steel 10. The above operation mode makes the entire hydraulic gripper structure compact and the transmission chain short. The hydraulic cylinder 3, drive frame 4, connecting rod 5 and transmission frame 6 are all integrated inside or on both sides of the fixed frame 1, occupying little space. It can adapt to the working conditions of limited height and narrow working space in coal mine roadways, effectively avoiding interference with the surrounding environment.

[0035] Reference Figure 2 and Figure 3The mounting bracket 1 includes two parallel front plates 11 and two parallel side plates 12. The side plates 12 are fixedly connected between the two front plates 11, and the hydraulic cylinder 3 is located within the space enclosed by the four plates. The two front plates 11 are fixedly connected by a horizontally arranged connecting plate 13. The connecting plate 13 has a limiting hole 14, through which the cylinder body of the hydraulic cylinder 3 passes to limit its movement. A fixing pin 16 is hinged between the tops of the two side plates 12, and the top of the cylinder body of the hydraulic cylinder 3 is hinged to the fixing pin 16. To facilitate the fixing of the U-shaped steel 10, a positioning part 17 protrudes from the middle of the bottom of the front plate 11 and fits against the top surface of the web of the U-shaped steel 10. Three reinforcing plates 15 are fixedly connected between the two front plates 11. Two of the reinforcing plates 15 are located on both sides of the front plate 11 and below the corresponding side plates 12. The third reinforcing plate 15 is fixedly connected between the positioning parts 17 of the two front plates 11 to improve the overall rigidity of the fixing frame 1. In this embodiment, the overall width of the fixing frame 1 is 357mm, the height is 355mm, and the thickness of the front plate 11 is not less than 5mm.

[0036] Reference Figure 2 The mounting frame 2 includes two parallel baffles 21, which are located between two side plates 12 and are respectively bolted to the corresponding side plates 12. A fixing pin 16 passes through the two baffles 21, and the tops of the two baffles 21 are fixedly connected by a mounting plate 22, which is bolted to the end of the robotic arm.

[0037] Reference Figure 3 Each of the gripper 8 has a locking groove 83 at its bottom end facing the other gripper 8 of the pair. The shape of the locking groove 83 is adapted to the raised flange end of the U-shaped steel 10. When the U-shaped steel 10 is gripped, the web of the U-shaped steel 10 abuts against the positioning part 17, and the raised flange ends on both sides of the U-shaped steel 10 are respectively engaged in the locking groove 83 of the two gripper 8, thereby achieving the clamping and fixing of the U-shaped steel 10. The vertical positioning is achieved by the abutting between the positioning part 17 and the web of the U-shaped steel 10, and the locking groove 83 engages with the flange end to restrict the horizontal and rotational degrees of freedom. The two work together to form a locking structure, which effectively prevents the U-shaped steel 10 from moving, slipping or twisting, significantly improves the clamping stability, and avoids gripping deviation or falling off.

[0038] Reference Figure 2 and Figure 4The drive frame 4 includes two parallel connecting plates 41 and a partition plate 42 fixedly connected between the two connecting plates 41. Two partition plates 42 are provided. The bottom of the hydraulic cylinder 3 is located within the space enclosed by the two connecting plates 41 and the two partition plates 42. The connecting plates 41 are T-shaped, with pin holes 43 at each of their three ends. The three sets of corresponding pin holes 43 on the two connecting plates 41 are connected by pins 44. The pins 44 on both sides are hinged to one end of two connecting rods 5, and the pin 44 at the bottom is hinged to the piston rod end of the hydraulic cylinder 3. In this embodiment, the diameter of the pin holes 43 is 20mm, and the center distance between two adjacent pin holes 43 is 140mm.

[0039] Reference Figure 3 and Figure 5 The transmission frame 6 includes two parallel bent arms 61, each with a plate-like structure bent in the middle. Pin holes 63 are provided at both ends and at the middle bend of each bent arm 61. The three sets of corresponding pin holes 63 on the two bent arms 61 are connected by pins 64. The end of the connecting rod 5 furthest from pin 44 is hinged to the upper pin 64, the two ends of the middle pin 64 are hinged to the two front plates 11, and the two ends of the lower pin 64 are hinged to the same side of one of the two pairs of grippers 8. The two bent arms 61 are connected by two reinforcing tubes 62 to enhance overall rigidity and the synchronization of the transmission frame 6. During clamping, the output force of the hydraulic cylinder 3 is efficiently transmitted and amplified to the grippers 8 through the lever amplification mechanism formed by the connecting rod 5 and the transmission frame 6, enabling the grippers 8 to reliably clamp the heavy U-shaped steel 10.

[0040] In this embodiment, the bending angle of the middle part of the bent arm 61 is 120°, the diameter of the second pin hole 63 is 20mm, and the three second pin holes 63 are distributed in a triangle. The center distance between the upper second pin hole 63 and the middle second pin hole 63 is 80mm, and the center distance between the lower second pin hole 63 and the middle second pin hole 63 is 110mm.

[0041] Reference Figure 1 and Figure 6 Two pairs of grippers 8 are located at the two axial ends of pin 64, and the transmission frame 6 is located between the two pairs of grippers 8. Pin holes 71 are provided at both ends of the gripper connecting plate 7. The upper pin hole 71 is hinged to the adjacent front plate 11 via pin 72. Two pin holes 81 are provided on the grippers 8. The inner pin hole 81 is hinged to the lower pin 64 of the transmission frame 6 on the same side. The outer pin holes 81 of all grippers 8 on the same side in each pair are hinged via pin 82. The lower pin hole 71 on the gripper connecting plate 7 is also hinged to the pin 82 on the same side.

[0042] Reference Figure 1 and Figure 7 All the aforementioned pins have slots 92 at both ends, with elastic retaining rings 91 engaged within the slots 92 for axial positioning of the pins. The elastic retaining rings 91 are open for easy removal. When replacing different grippers 8 for different specifications of U-shaped steel 10, first use snap ring pliers to pry open the open end of the elastic retaining ring 91 and remove it from the slot 92 at the pin end. Then, pull out the corresponding pins 64 and 82 axially, separating the gripper connecting plate 7 from the gripper 8, and the gripper 8 from the bent arm 61. Next, remove the gripper 8 to be replaced and replace it with a new gripper 8 that matches the flange size of the U-shaped steel 10 to be clamped. Finally, reinsert the pin and press the elastic retaining ring 91 into the slot 92 to complete the replacement. The entire process requires no disassembly of other parts, making it simple and quick to operate.

[0043] In addition, a balance valve is installed on the oil supply line of the hydraulic cylinder 3 to maintain the stability of the clamping force under pressure holding conditions and prevent the gripper 8 from loosening due to system pressure fluctuations.

[0044] The implementation principle of Embodiment 1 of this application is as follows: After the mounting frame 2 is fixed to the end of the robotic arm, the hydraulic cylinder 3 serves as the power source. When the piston rod of the hydraulic cylinder 3 extends, the drive frame 4 moves downward, pushing the upper end of the transmission frame 6 outward through the connecting rods 5 on both sides. The transmission frame 6 rotates around the hinge point between its middle part and the fixed frame 1, causing its lower end to swing inward, thereby driving the inner side of the top of each gripper 8 to close inward. Under the constraint of the gripper connecting plate 7, the gripper 8 rotates around pin 3 72 and pin 4 82, causing the locking groove 83 at the bottom of the gripper 8 to clamp the flange end of the U-shaped steel 10. At the same time, the positioning part 17 abuts against the web of the U-shaped steel 10, forming a form-locked and stable clamping. When the piston rod retracts, the drive frame 4 moves upward, the transmission frame 6 swings in the opposite direction, and the gripper 8 opens to release the U-shaped steel 10.

[0045] The entire hydraulic gripper has a compact structure, with the hydraulic cylinder 3 and transmission components integrated inside or on both sides of the fixed frame 1. Simultaneously, through a multi-hinge linkage mechanism of hydraulic cylinder 3-drive frame 4-connecting rod 5-transmission frame 6-gripper connecting plate 7-gripper 8, one hydraulic cylinder drives multiple grippers 8 to move synchronously, significantly reducing the overall space required and adapting to the narrow working environment of coal mine roadways. The precise positioning and locking of the U-shaped steel 10's cross-sectional features are achieved through the cooperation of the positioning part 17 and the locking groove 83, effectively preventing gripping deviation or slippage. Furthermore, multiple pairs of grippers 8 are distributed along the length of the U-shaped steel 10, distributing the force and further improving gripping stability. All pins are axially limited by elastic retaining rings 91, and the open design of the elastic retaining rings 91 allows for easy and quick replacement of grippers 8 without disassembling other components, meeting the support requirements of different models of U-shaped steel 10.

[0046] Example 2 A clamping method using the mining U-shaped steel hydraulic gripper described in Example 1 includes the following steps: S1, the mounting bracket 2 on the top of the hydraulic gripper is bolted to the end flange of the mechanical arm of the mining support robot. During installation, the axis of the hydraulic cylinder 3 inside the mounting bracket 1 is aligned with the extension direction of the end of the mechanical arm to provide an accurate reference direction for subsequent power transmission. S2, start hydraulic cylinder 3, control the piston rod of hydraulic cylinder 3 to extend, the piston rod pushes down, driving the drive frame 4 hinged to it to move down; S3, the upper end of the transmission frame 6 on the same side is pushed to swing by the connecting rods 5 on both sides of the drive frame 4. The transmission frame 6 rotates around the hinge point between its middle part and the fixed frame 1. Its lower end drives the inner side of the top of each gripper 8 to move. And through the constraint of the gripper 8 connecting plate, each gripper 8 rotates around its hinge point with the fixed frame 1, so as to realize the synchronous opening and closing of the pair of grippers 8. S4, when clamping the U-shaped steel 10, the positioning part 17 at the bottom of the fixing frame 1 abuts against the web of the U-shaped steel 10, and at the same time, the snap-fit ​​groove 83 at the bottom of the gripper 8 snaps into the flange ends that are raised on both sides of the U-shaped steel 10 respectively, forming a locking structure to stably clamp the U-shaped steel 10. S5, after the U-shaped steel 10 is transported or installed, the piston rod of the hydraulic cylinder 3 is retracted, the drive frame 4 moves upward and resets, and through the tension transmission of the connecting rod 5, the upper end of the drive transmission frame 6 swings inward and its lower end opens outward. The gripper 8 expands outward synchronously under the constraint of the gripper connecting plate 7, the snap-fit ​​groove 83 separates from the flange end of the U-shaped steel 10, and the positioning part 17 disengages from the web of the U-shaped steel 10, completing the release action.

[0047] The above description of the disclosed embodiments enables those skilled in the art to implement or use this patent. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this patent. Therefore, this patent is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A hydraulic gripper made of U-shaped steel for mining, characterized in that: The system includes a fixed frame (1), with a mounting bracket (2) on top. The fixed frame (1) is mounted on the end of the robotic arm via the mounting bracket (2). The fixed frame (1) contains a hydraulic cylinder (3) and a drive frame (4). The top of the hydraulic cylinder (3) is fixedly mounted on the top of the fixed frame (1), and the drive frame (4) is located at the extended end of the piston rod of the hydraulic cylinder (3). The hydraulic cylinder (3) drives the drive frame (4) to reciprocate along the extension direction of the end of the robotic arm. The drive frame (4) has two sides... Two connecting rods (5) are symmetrically hinged to each other. Two transmission frames (6) are symmetrically hinged to each side of the fixed frame (1). The upper end of each transmission frame (6) is hinged to the other end of the connecting rod (5) on the same side. A pair of grippers (8) are provided on the lower part of the fixed frame (1). The inner top of each gripper (8) is hinged to the bottom of the transmission frame (6) on the same side. The outer top of each gripper (8) is hinged to the fixed frame (1) through a gripper connecting plate (7). The shape of the gripping surface of the gripper (8) is adapted to the shape of the U-shaped steel (10).

2. The mining U-shaped steel hydraulic gripper according to claim 1, characterized in that: The gripper (8) is provided with at least two pairs.

3. The hydraulic gripper for mining U-shaped steel according to claim 1, characterized in that: The fixing frame (1) includes two parallel front plates (11) and two parallel side plates (12). The side plates (12) are fixedly connected between the two front plates (11). The hydraulic cylinder (3) is located in the space enclosed by the four plates. The two front plates (11) are fixedly connected by a connecting plate (13). A limiting hole (14) is opened on the connecting plate (41). The cylinder body of the hydraulic cylinder (3) passes through the limiting hole (14). A fixing pin (16) is provided between the tops of the two side plates (12). The top of the cylinder body of the hydraulic cylinder (3) is hinged to the fixing pin (16).

4. A mining U-shaped steel hydraulic gripper according to claim 3, characterized in that: The bottom surfaces of the two front plates (11) are provided with positioning parts (17), and the bottom ends of the grippers (8) facing the other gripper (8) are provided with locking grooves (83). When clamping the U-shaped steel (10), the positioning parts (17) are used to abut against the web of the U-shaped steel (10), and the two locking grooves (83) are used to lock the raised flange ends on both sides of the U-shaped steel (10).

5. A mining U-shaped steel hydraulic gripper according to claim 2, characterized in that: The drive frame (4) includes two parallel connecting plates (41) and a partition plate (42) connecting the two connecting plates (41). There are two partition plates (42). The bottom of the hydraulic cylinder (3) is located in the space enclosed by the two connecting plates (41) and the two partition plates (42). The connecting plate (41) is T-shaped. The three ends of the connecting plate (41) are provided with pin holes (43). The three sets of corresponding pin holes (43) on the two connecting plates (41) are connected by pins (44). The pins (44) on both sides are hinged to one end of the two connecting rods (5) respectively. The pins (44) at the bottom are hinged to the piston rod end of the hydraulic cylinder (3).

6. A mining U-shaped steel hydraulic gripper according to claim 5, characterized in that: The transmission frame (6) includes two parallel curved arms (61). The curved arms (61) are plate-shaped structures with a bend in the middle. Pin holes (63) are provided at both ends and at the bend in the middle of the curved arms (61). The three sets of corresponding pin holes (63) on the two curved arms (61) are connected by pins (64). The end of the connecting rod (5) away from the first pin (44) is hinged to the upper pin (64). The two ends of the middle pin (64) are hinged to the two front plates (11) respectively. The two ends of the lower pin (64) are hinged to the same side of each pair of grippers (8).

7. A mining U-shaped steel hydraulic gripper according to claim 6, characterized in that: The two curved arms (61) are connected by a reinforcing tube (62).

8. A mining U-shaped steel hydraulic gripper according to claim 6, characterized in that: The jaw connecting plate (7) has pin holes 3 (71) at both ends. The upper pin hole 3 (71) and the adjacent front plate (11) are hinged by pin hole 3 (72). The jaw (8) has two pin holes 4 (81). The inner pin hole 4 (81) is hinged to the lower pin hole 2 (64) in the transmission frame (6) on the same side. The outer pin holes 4 (81) on all jaws (8) on the same side in each pair are hinged by pin hole 4 (82). The lower pin hole 3 (71) on the jaw connecting plate (7) is also hinged to the pin hole 4 (82) on the same side.

9. A mining U-shaped steel hydraulic gripper according to claim 8, characterized in that: Both ends of the lower pin three (72) and pin four (82) are fitted with elastic retaining rings (91). The elastic retaining rings (91) are open. Both ends of the pin three (72) and pin four (82) are provided with slots (92) for fitting the elastic retaining rings (91).

10. A clamping method using a mining U-shaped steel hydraulic gripper as described in any one of claims 1-9, characterized in that, Includes the following steps: S1, the mounting bracket (2) is mounted on the end of the robotic arm; S2, start the hydraulic cylinder (3) to extend or retract its piston rod, and drive the drive frame (4) to move back and forth along the extension direction of the end of the robotic arm; S3, the upper end of the transmission frame (6) on the same side is pushed to swing by the connecting rods (5) on both sides of the drive frame (4). The transmission frame (6) rotates around the hinge point between its middle part and the fixed frame (1). Its lower end drives the inner side of the top of each gripper (8) to move. And through the constraint of the gripper connecting plate (7), each gripper (8) rotates around its hinge point with the fixed frame (1) to realize the synchronous opening and closing of the pair of grippers (8). S4, when clamping the U-shaped steel (10), the positioning part (17) at the bottom of the fixing frame (1) abuts against the web of the U-shaped steel (10), and at the same time, the locking groove (83) at the bottom of the claw (8) is respectively locked onto the raised flange ends on both sides of the U-shaped steel (10) to form a locking structure to stably clamp the U-shaped steel (10).

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