CN114772272A

CN114772272A - Ore snatchs manipulator for mining

Info

Publication number: CN114772272A
Application number: CN202210678130.5A
Authority: CN
Inventors: 邵栓栓
Original assignee: Jiangsu Fengpo Construction Machinery Co ltd
Current assignee: Jiangsu Fengpo Construction Machinery Co ltd
Priority date: 2022-06-16
Filing date: 2022-06-16
Publication date: 2022-07-22
Anticipated expiration: 2042-06-16
Also published as: CN114772272B

Abstract

The invention discloses an ore grabbing manipulator for mining, which belongs to the technical field of mining equipment and comprises an installation disc, wherein the bottom of the installation disc is fixedly connected with a plurality of push frames, the bottom of the installation disc is fixedly provided with a grabbing cylinder, the movable end of the grabbing cylinder is fixedly connected with a grabbing disc, the side wall of the grabbing disc is rotatably connected with a plurality of large-arm claws, the end parts of the large-arm claws are rotatably connected with hooks, the top ends of the hooks are rotatably connected with pull rods, tightening cylinders are arranged between the pull rods and the large-arm claws, the side walls of the large-arm claws and the hooks are respectively provided with upper protective sheets and lower protective sheets, protective pull ropes are respectively connected between the upper protective sheets and the lower protective sheets and between the hooks, and the top of the grabbing disc is provided with a driving piece for driving the upper protective sheets between the adjacent large-arm claws to simultaneously rotate and approach each other, avoid leaking the material from claw seam within a definite time, reduce the risk in workplace, improve the security.

Description

Ore snatchs manipulator for mining

Technical Field

The invention relates to the technical field of mining equipment, in particular to an ore grabbing manipulator for mine exploitation.

Background

The mining industry refers to the extraction of naturally occurring minerals such as solids, liquids or gases. Including underground or above ground excavation, mine operation, and all ancillary operations generally performed at or near the site intended to process the raw material, such as crushing, beneficiation and treatment, are all activities of this type. In the process of solid ore mining, tools such as a hand grab are needed to grab and transport the ore to other places, so that continuous mining or material conveying and the like are facilitated. The miners have certain dangerousness under the working environment, so that the existing mine field starts to use the mechanical arm to replace part of the miners, the labor intensity of the miners is reduced, and the labor is saved.

Based on the technical scheme, the invention designs the ore grabbing mechanical arm for mining so as to solve the problem.

Disclosure of Invention

The invention aims to provide an ore grabbing manipulator for mining, which aims to solve the problems that some irregular ore materials are difficult to grasp, the material is easy to fall off in the grabbing process and certain potential safety hazards exist in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an ore grabbing manipulator for mining comprises a mounting disc, wherein the bottom of the mounting disc is fixedly connected with a plurality of pushing frames, the bottom of the mounting plate is fixedly provided with a grabbing cylinder, the movable end of the grabbing cylinder is fixedly connected with a grabbing plate, the side wall of the grabbing plate is rotationally connected with a plurality of large arm claws, the pushing frames correspond to the large arm claws one by one and are assembled in a sliding way, the end parts of the large arm claws are rotatably connected with the claws, the top ends of the claws are rotatably connected with the pull rod, a tightening cylinder is arranged between the pull rod and the large arm claw, the side walls of the large arm claw and the hook claw are respectively provided with an upper protection sheet and a lower protection sheet which are rotationally connected, the upper protection sheet and the large arm claws, the lower protection sheet and the hook claws are connected with protection pull ropes, and the top of the grabbing disc is provided with a driving piece which is used for driving the upper protection sheet between the adjacent large arm claws to rotate simultaneously and to be close to each other.

Preferably, the driving piece includes last connecting rod and lower connecting rod of rotating the last protection piece of connecting between adjacent forearm claw respectively, go up common fixedly connected with top ring gear between the connecting rod, ring gear under the common fixedly connected with between the connecting rod down, it is connected with the master gear and follows the gear to snatch a set top rotation, the master gear meshes with top ring gear simultaneously with following the gear, follow gear and ring gear meshing down.

Preferably, go up the equal fixedly connected with arc circle in connecting rod and the lower connecting rod bottom, the arc circle rotates with big arm claw upper end to be connected, a plurality of direction pole rails of fixedly connected with in the mounting disc, big arm claw is all established outside the direction pole rail.

Preferably, the upper protection piece and the lower protection piece are respectively provided with a rope pulling groove, a middle loop bar is fixedly connected in the rope pulling groove, the outer wall of the middle loop bar is uniformly and fixedly connected with a plurality of electromagnet rings, a rope pulling sleeve is rotatably sleeved outside the middle loop bar, vortex springs are fixedly connected in the rope pulling sleeve and the rope pulling groove, the protection rope is wound on the outer wall of the rope pulling sleeve, and two ends of the rope pulling sleeve are respectively fixedly connected with a fixed iron ring.

Preferably, pressure sensors are fixedly mounted on the inner side wall of the hook claw and the inner top of the grabbing disc, the hook claw and the pressure sensor of the grabbing disc are both in telecommunication connection with the electromagnet ring and the grabbing cylinder, and the pressure sensor of the grabbing disc is in telecommunication connection with the tightening cylinder.

Preferably, both ends of the protection pull rope are fixedly connected with linear loop bars, and the linear loop bars are located between the upper protection piece and the upper arm claw as well as between the lower protection piece and the hook claw.

Preferably, the outer side wall of the large arm claw is fixedly connected with a sliding sleeve, the top end of the hook claw is fixedly connected with an extension rod, the extension rod is rotatably connected with a pull rod, the pull rod is positioned in the sliding sleeve and is in sliding assembly with the sliding sleeve, the bottom of the pull rod is fixedly connected with a stress plate, and the tightening cylinder is positioned in the sliding sleeve, and the movable end of the tightening cylinder is fixedly connected with the stress plate.

Preferably, the top end of the large arm claw is fixedly connected with an end rod, a sliding groove is formed in the end rod, the bottom of the push frame is fixedly connected with a sliding shaft, and the sliding shaft is located in the sliding groove and is assembled with the sliding shaft in a sliding mode.

Preferably, the top of the mounting disc is fixedly connected with a butt joint frame, and the bottom of the hook claw is a pointed end.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the grabbing cylinder is switched on to drive the grabbing disc to move upwards, so that the large arm claw is opened outwards, and the tightening cylinder is switched on to drive the hook claw to be opened outwards, so that the large arm claw and the hook claw are approximately at the same linear position, therefore, the resistance force inserted into ores when the lower claw grabs the ores is greatly reduced, the mechanical claw is more easily inserted into the ores to grab the ores, and meanwhile, the grabbing range is expanded due to the simultaneous opening of the large arm claw and the hook claw, more ores can be grabbed, the grabbing efficiency is improved, the grabbing mode of a multi-claw design is dispersed, and irregular-shaped ores and other substances are easy to grab, so that the use is more convenient.

2. When grabbing and finishing mentioning the gripper, act on the last protection piece between the adjacent big arm claw simultaneously through the driving piece, make the two rotate in step and be close to, pull out its protection stay cord that corresponds the lateral wall separately, and then form horizontal protection between the clearance of the claw of gripper, simultaneously because the rotation of last protection piece and lower protection piece to between the space of claw, vertically encrypt the claw, including horizontal protection with vertical encryption the inside ore parcel, and then avoid leaking from between the claw seam at the in-process that shifts, injure the workman by a crashing object, cause the condition such as danger, reduce the risk in work place, and the safety is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a front side view angle of the present invention;

FIG. 2 is a schematic bottom view of the present invention;

FIG. 3 is a schematic view of a half-section view of the present invention;

FIG. 4 is an enlarged view of part A of the present invention;

FIG. 5 is a schematic side view of a half-section of the present invention;

FIG. 6 is an enlarged view of the part B of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. mounting a disc; 2. pushing the frame; 3. a grabbing cylinder; 4. grabbing a disc; 5. a large arm claw; 6. a hook claw; 7. a pull rod; 8. tightening the cylinder; 9. mounting a protective sheet; 10. a lower protective sheet; 11. a protective pull rope; 12. a pressure sensor; 13. an upper connecting rod; 14. a lower connecting rod; 15. a top gear ring; 16. a lower gear ring; 17. a main gear; 18. a slave gear; 19. an arc-shaped ring; 20. guiding the round bar rail; 21. rope pulling grooves; 22. a middle loop bar; 23. an electromagnet ring; 24. pulling the rope sleeve; 25. a scroll spring; 26. fixing an iron ring; 27. a linear loop bar; 28. a sliding sleeve; 29. an extension pole; 30. a stress plate; 31. an end rod; 32. a chute; 33. a slide shaft; 34. and (7) a butt joint frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution:

the utility model provides an ore snatchs manipulator for mining, including mounting disc 1, 1 bottom fixedly connected with of mounting disc a plurality of frame 2 that push away, 1 bottom fixed mounting of mounting disc snatchs jar 3, the movable end fixedly connected with who snatchs jar 3 snatchs dish 4, it rotates and is connected with a plurality of big arm claw 5 to snatch 4 lateral wall, it just slides the assembly with big arm claw 5 one-to-one, 5 tip of big arm claw all rotates and is connected with hook 6, 6 top rotations of hook are connected with pull rod 7, install between pull rod 7 and the big arm claw 5 and tighten up jar 8, big arm claw 5 and 6 lateral wall of hook are equipped with protection piece 9 and lower protection piece 10 respectively, it rotates and is connected between protection piece 9 and the lower protection piece 10 to go up protection piece 9 and the lower protection piece, it all is connected with protection stay cord 11 to go up protection piece 9 and big arm claw 5 and lower protection piece 10 and hook claw 6, it is equipped with the driving piece that the last protection piece 9 that is used for driving between the adjacent big arm claw 5 rotates simultaneously and be close to snatch 4 top of dish is equipped with and be used for driving each other.

Referring to fig. 1-2, the present invention is used by mounting the gripper on a robotic arm or other device capable of driving the gripper in motion. When reacing suitable position and snatching the ore, snatch jar 3 through the switch-on and drive and snatch dish 4 and upwards remove, and then make big arm claw 5 outwards open under the cooperation of pushing away frame 2 and big arm claw 5, the switch-on tightens up jar 8 simultaneously, drive pull rod 7 upper end upward movement, and then drive hook 6 and also outwards open, make big arm claw 5 and hook 6 the two approximate same straight line position, thereby greatly reduced when the lower claw grabs the ore, the resistance that inserts in the ore, thereby it snatchs to make the gripper insert the ore more easily, big arm claw 5 and hook 6 open simultaneously and also enlarged the scope of snatching, can snatch more ore, improve and snatch efficiency.

Snatch when finishing, withdraw drive pull rod 7 lapse through tightening up jar 8 earlier, and then make claw 6 inwards tighten up earlier, form the ore furthest parcel centre gripping that will be located in the claw and tighten up in the space that colludes the formation at claw 6, receive claw 6 earlier and can make the space between claw 6 bottoms snatch more ore simultaneously less, can not appear receiving earlier and blockking by the top ore when big arm claw 5, so that can not continue the adduction, the great easy condition of leaking of gripper bottom opening that causes, when lifting the manipulator, the switch-on snatchs jar 3 and makes its expansion end stretch out, make big arm claw 5 inwards rotate and tighten up, tighten up inside ore further extrusion, avoid inside ore loose, drop at the transfer in-process.

Referring to fig. 5-6, in the process of grabbing and tightening the mechanical claw, the upper protection sheet 9 and the lower protection sheet 10 both move along with the movement of the large-arm claw 5 and the hook claw 6 and are always attached to both sides of the claw, and the work is not affected during grabbing and tightening; when grabbing and finishing mentioning the gripper, act on last protective sheet 9 between the adjacent big arm claw 5 simultaneously through the driving piece, make the two rotate in step and be close to, when being close to each other, go up protective sheet 9 and lower protective sheet 10 together pull out its protection stay cord 11 that corresponds the lateral wall respectively, and then form horizontal protection between the clearance of the claw of gripper, simultaneously because last protective sheet 9 and lower protective sheet 10 rotate to between the clearance of claw, vertically encrypt the claw, including horizontal protection and vertical encrypted while with inside ore parcel, and then avoid leaking from between the claw seam at the in-process that shifts, injure the workman by a crashing object, cause the condition of danger etc., reduce the risk in place work, improve the security. And the claw is lifted, and meanwhile, transverse protection and longitudinal encryption are formed, so that normal grabbing is not influenced, and grabbing resistance is not increased.

The driving part comprises an upper connecting rod 13 and a lower connecting rod 14 which are respectively and rotatably connected with an upper protection sheet 9 between adjacent large-arm claws 5, a top gear ring 15 is fixedly connected between the upper connecting rods 13, a lower gear ring 16 is fixedly connected between the lower connecting rods 14, the top of the grabbing disc 4 is rotatably connected with a main gear 17 and a driven gear 18, the main gear 17 is simultaneously meshed with the driven gear 18 and the top gear ring 15, and the driven gear 18 is meshed with the lower gear ring 16.

Referring to fig. 3-4, the driving motor connected to the main gear 17 drives the main gear 17 to rotate, so as to drive the secondary gear 18 and the top gear ring 15 engaged therewith to rotate, the secondary gear 18 drives the lower gear ring 16 engaged therewith to rotate, the rotation directions of the top gear ring 15 and the lower gear ring 16 are opposite, so as to drive the upper connecting rod 13 and the lower connecting rod 14 to synchronously approach each other, so that the upper guard plate 9 and the lower guard plate 10 between adjacent forearm jaws 5 synchronously move toward the jaw gap, which is convenient, fast, easy to control, and can simultaneously drive all the upper connecting rods 13 and all the lower connecting rods 14 to synchronously move, and the transmission of the gear ring is located at the top of the gripping disk 4, which can adapt to a severe environment, and is reliable and stable in transmission.

Still can be equipped with the mode of wedge through below mounting disc 1 for when snatching dish 4 and move down, adjacent last connecting rod 13 and lower connecting rod 14 are through the relative wedge that sets up, and synchronous inwards is close to under its extrusion for go up the protection piece 9 and move to the claw seam centre, and is comparatively simple and convenient, and can go on with receiving the claw in step (not drawn in the picture).

Wherein, go up connecting rod 13 and lower connecting rod 14 bottom equal fixedly connected with arc circle 19, arc circle 19 rotates with big arm claw 5 upper end to be connected, a plurality of direction pole rails 20 of fixedly connected with in the mounting disc 1, and big arm claw 5 all overlaps and establishes outside direction pole rail 20.

Referring to fig. 1, 3 and 5, when the large-arm claw 5 rotates, the upper protection sheet 9 is driven to rotate together under the action of the protection pull rope 11, the large-arm claw 5 and the connecting shaft of the hook claw 6, and is rotatably sleeved with the large-arm claw 5 through the arc-shaped ring 19, so that the rotation of the large-arm claw 5 is adapted, and meanwhile, the installation position of the upper protection sheet 9 is kept under the action of the guide circular rod rail 20 to provide moving guide, so that the upper protection sheet can move to the claw gap according to a preset path, and the stability and reliability of the device are improved.

Wherein, go up protective sheet 9 and all seted up in the protective sheet 10 stay cord groove 21 down, loop bar 22 in the middle of the fixedly connected with in the stay cord groove 21, the even a plurality of electromagnetism magnetic rings 23 of fixedly connected with of middle loop bar 22 outer wall, the outer rotation cover of middle loop bar 22 is equipped with stay cord cover 24, equal fixedly connected with vortex spring 25 in stay cord cover 24 and the stay cord groove 21, the winding of protection stay cord 11 is at the 24 outer walls of stay cord cover, the equal fixedly connected with stationary iron ring 26 in stay cord cover 24 both ends.

Referring to fig. 3-4, when the upper protective plate 9 and the lower protective plate 10 move to the gap between the claws and pull the protective pull rope 11 out, the pull rope sleeve 24 rotates with the continuous release of the protective pull rope 11, the scroll spring 25 stores the force at this time, when the upper end of the upper protective plate 9 between the adjacent claws 5 contacts, the main gear 17 stops rotating, the upper protective plate 9 and the lower protective plate 10 also stop moving, and the electromagnet ring 23 is conducted to generate magnetism and further to adsorb and fix the fixed iron rings 26 at the two sides of the electromagnet ring 23, so that the pull rope sleeve 24 cannot rotate, so that the protective pull rope 11 cannot be continuously released, the released protective pull rope 11 between the upper protective plate 9 and the lower protective plate 10 and the claws 5 and the claw 6 is kept tensioned, thereby preventing the internal ore from falling due to the slack of the rope and playing a certain forced restraining role for the internal ore, the risk that inside ore dropped has been reduced greatly, improves the security of ore exploitation transportation work.

Wherein, equal fixed mounting in the inside wall of hook 6 and the interior top of snatching dish 4 has pressure sensor 12, and hook 6 and the pressure sensor 12 of snatching dish 4 all with electro-magnet ring 23 and snatch jar 3 telecommunications connection, snatch the pressure sensor 12 and tighten up jar 8 telecommunications connection of dish 4.

Referring to fig. 1-2, when the claw of the gripper inserts ore until there is ore acting on the pressure sensor 12 at the top of the gripping disc 4, the tightening cylinder 8 is activated by receiving a signal to drive the pull rod 7 to move, so that the claw 6 rotates inwards to tighten the gripping; when the claw 6 is tightened to the pressure sensor 12 which can extrude the grabbing disc 4 by ore and has certain force action, the pressure sensor 12 on the inner side of the claw 6 is also extruded, the grabbing cylinder 3 is started after receiving a signal, the grabbing disc 4 is pushed down, and the large arm claw 5 is further tightened; at the moment, the hook claw 6 and the pressure sensor 12 of the grabbing disc 4 are extruded to a certain degree, the driving motor of the main gear 17 is started after receiving a signal, the electromagnet ring 23 is powered off, the magnetism disappears, the upper protection sheet 9 between the adjacent cantilever claws 5 is driven to rotate to approach each other, when the upper end of the upper protection sheet 9 wants to be contacted, the driving motor of the main gear 17 stops rotating, the electromagnet ring 23 is switched on again to generate magnetism, and the pull rope sleeve 24 is adsorbed and fixed. The use is more intelligent and convenient, and the operation is simplified.

The above can also be used for realizing the automatic application of the mechanical claw (not shown in the figure) through the combination of a PLC, a hydraulic control or other types of sensors.

Wherein, both ends of the protection pull rope 11 are fixedly connected with linear loop bars 27, and the linear loop bars 27 are positioned between the upper protection sheet 9 and the large-arm claw 5 and between the lower protection sheet 10 and the hook claw 6.

Referring to fig. 5-6, when the upper protection plate 9 and the lower protection plate 10 are located on the side walls of the large-arm claw 5 and the hook claw 6 in the retracted state, the linear loop bar 27 is located at the gap, and when grabbing ore, the linear loop bar 27 protects the internal protection pull rope 11 and prevents the ore from entering the gap, thereby playing a certain role in protection and interception.

Wherein, the lateral wall fixedly connected with sliding sleeve 28 of

big arm claw

5, 6 top fixedly connected with extension rod 29 of hook claw, extension rod 29 rotates with pull rod 7 to be connected, and pull rod 7 is located sliding assembly and interior bottom fixedly connected with atress board 30 in sliding sleeve 28, tightens up jar 8 and is located sliding sleeve 28 interior expansion end and atress board 30 fixed connection. The sliding sleeve 28 provides a guide for the movement of the pull rod 7, so that the extension rod 29 can be stably pulled, and the claw 6 can be opened or closed.

Wherein, the top end of the large arm claw 5 is fixedly connected with an end rod 31, a sliding groove 32 is arranged in the end rod 31, the bottom of the push frame 2 is fixedly connected with a sliding shaft 33, and the sliding shaft 33 is positioned in the sliding groove 32 and is assembled with the sliding groove in a sliding way. When the gripping cylinder 3 moves downward or upward, the slide shaft 33 in the push frame 2 slides in the slide groove 32, thereby accommodating the movement of the end rod 31 when the large-arm claw 5 is opened or closed.

Wherein, the top of the mounting plate 1 is fixedly connected with a butt-joint frame 34, and the bottom of the claw 6 is a tip. The docking cradle 34 facilitates connection to an external device for use.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides an ore snatchs manipulator for mining, its characterized in that: including mounting disc (1), a plurality of pushing brackets (2) of mounting disc (1) bottom fixedly connected with, mounting disc (1) bottom fixed mounting snatchs jar (3), the expansion end fixedly connected with who snatchs jar (3) snatchs dish (4), it rotates and is connected with a plurality of big arm claw (5) to snatch dish (4) lateral wall, push away frame (2) and big arm claw (5) one-to-one and slip assembly, big arm claw (5) tip all rotates and is connected with hook (6), hook (6) top rotates and is connected with pull rod (7), it tightens up jar (8) to install between pull rod (7) and big arm claw (5), big arm claw (5) and hook (6) lateral wall are equipped with protection piece (9) and protection piece (10) down respectively, it rotates between protection piece (9) and the protection piece (10) down to go up, it all is connected between protection piece (9) and the protection piece (10) down with protection piece (5) and protection piece (10) down to go up protection piece (9), protection piece (5) and big arm claw (6) and protection piece (10) down, all be connected between last protection piece (9) and protection piece (6) The protective pull rope (11) is arranged, and the top of the grabbing disc (4) is provided with a driving piece which is used for driving the upper protective pieces (9) between the adjacent large-arm claws (5) to rotate simultaneously and approach to each other.

2. The ore grabbing manipulator for mining as claimed in claim 1, wherein: the driving piece is including rotating last connecting rod (13) and lower connecting rod (14) of connecting last protection piece (9) between adjacent forearm claw (5) respectively, go up common fixedly connected with top ring gear (15) between connecting rod (13), ring gear (16) under common fixedly connected with between lower connecting rod (14), it is connected with master gear (17) and follows gear (18) to snatch dish (4) top rotation, master gear (17) and mesh simultaneously from gear (18) and top ring gear (15), from gear (18) and lower ring gear (16) meshing.

3. The ore gripping manipulator for mining of claim 2, characterized in that: go up connecting rod (13) and lower connecting rod (14) equal fixedly connected with arc circle (19) in bottom, arc circle (19) rotate with big arm claw (5) upper end and are connected, a plurality of direction pole rails (20) of fixedly connected with in mounting disc (1), big arm claw (5) are all overlapped and are established outside direction pole rail (20).

4. The ore grabbing manipulator for mining as claimed in claim 1, wherein: go up protective sheet (9) and all seted up in protective sheet (10) stay cord groove (21) down, loop bar (22) in the middle of the fixedly connected with in stay cord groove (21), the even fixedly connected with of middle loop bar (22) outer wall is a plurality of electromagnetism magnetic rings (23), middle loop bar (22) are changeed the cover outward and are equipped with stay cord cover (24), equal fixedly connected with vortex spring (25) in stay cord cover (24) and stay cord groove (21), protection stay cord (11) winding is at stay cord cover (24) outer wall, the equal fixedly connected with fixed hoop (26) in stay cord cover (24) both ends.

5. The ore gripping manipulator for mining of claim 4, characterized in that: the top equal fixed mounting in hook (6) inside wall and the grabbing dish (4) has pressure sensor (12), hook (6) and pressure sensor (12) of grabbing dish (4) all with electromagnetism magnetic ring (23) and snatch jar (3) telecommunications connection, pressure sensor (12) and the telecommunications connection of tightening up jar (8) of grabbing dish (4).

6. The ore grabbing manipulator for mining as claimed in claim 4, wherein: the two ends of the protection pull rope (11) are fixedly connected with linear loop bars (27), and the linear loop bars (27) are located between the upper protection sheet (9) and the upper arm claw (5) and between the lower protection sheet (10) and the hook claw (6).

7. The ore gripping manipulator for mining of claim 1, characterized in that: big arm claw (5) lateral wall fixedly connected with sliding sleeve (28), hook claw (6) top fixedly connected with extension rod (29), extension rod (29) rotate with pull rod (7) and are connected, pull rod (7) are located sliding sleeve (28) and slide assembly and interior bottom fixedly connected with atress board (30) with it, it is located sliding sleeve (28) expansion end and atress board (30) fixed connection to tighten up jar (8).

8. The ore gripping manipulator for mining of claim 1, characterized in that: the top end of the large arm claw (5) is fixedly connected with an end part rod (31), a sliding groove (32) is formed in the end part rod (31), the bottom of the push frame (2) is fixedly connected with a sliding shaft (33), and the sliding shaft (33) is located in the sliding groove (32) and is assembled with the sliding groove in a sliding mode.

9. The ore grabbing manipulator for mining as claimed in claim 1, wherein: the top of the mounting disc (1) is fixedly connected with a butt joint frame (34), and the bottom of the hook claw (6) is a pointed end.