CN212241087U - a mechanical claw - Google Patents

Abstract

The utility model discloses a mechanical claw, comprising a fixing plate and a moving part of a T-shaped structure, one end of the long rod vertically fixes the center of a circular execution ring; the lower part of the fixing plate is fixed with a through hole in the center and surrounded by A connector with a circular and equally spaced hinged port; the hinged port of the connector is hinged with one end of the grapple hook, and the connecting part of each grapple hook is provided with a strip groove, and all the grooves are executed by the loop Connected in series; the diameter of the circle enclosed by the ends of all grooves near the hinge interface is smaller than the diameter enclosed by the other ends of all the grooves; the ends of the long rods are fixed with the pull rods; the fixed plate is provided with a steering gear , and the power output end of the steering gear is hinged with the pull rod through the connecting rod group. Beneficial effects: the work efficiency is increased by the mechanical claw, the optimization of materials and the increase of the rated power of the motor can effectively increase the load of the mechanical claw of the structure, the structure design and assembly are simple, the grasping is accurate, the control system is simple, and the fault tolerance rate is high.

Description

a mechanical claw

technical field

The utility model relates to the field of mining equipment, in particular to a mechanical claw.

Background technique

With the exploitation and utilization of mineral resources, the efficiency of underground operation in coal mines has become particularly important. Due to the coal mining and washing process, there will be a large amount of solid waste such as coal gangue that needs to be disposed of in time. The existence of coal gangue mixed with coal will cause unnecessary energy loss and pollute the surrounding environment, and the burning of coal with high gangue content is also the main reason for the increasingly serious problem of smog. At present, the mechanical structure of mechanical separation of gangue used in many industries has the problems of large volume, medium quality and complicated control system.

At this stage, the separation of coal and gangue is mainly based on manual gangue separation. The long-term heavy work has caused great harm to the physical and mental health of the gangue workers, resulting in low production efficiency, and manual gangue sorting is also prone to missed or wrong sorting. Therefore, in order to improve the sorting efficiency and fault tolerance rate of coal gangue, and at the same time considering the physical and mental health of workers, the automation of coal mine production process is urgent.

In the current coal mining industry, some machines have replaced manual labor. The identification technology for coal gangue has been initially formed, and corresponding sorting robots are equipped at the same time. There are also some gangue sorting robots specially used for coal gangue sorting. There are problems of complex structure, high cost and low cost performance.

In view of this, the present utility model aims to fill the deficiencies and deficiencies in the design of the executive mechanism for sorting coal gangue, and proposes a mechanical claw structure for accurately grasping the coal gangue. This kind of mechanical claw adopts the currently mature identification and control technology and the most suitable material processing technology to realize the function of grabbing coal gangue.

Utility model content

In order to solve the problem that the mechanical claw is inconvenient to grab the coal gangue, the utility model provides a mechanical claw with a novel structure.

In order to achieve the above object, the utility model adopts the following technical scheme:

A mechanical claw comprises a fixed plate with a circular hole, a long rod passing through a moving part of a T-shaped structure in the circular hole of the fixed plate, and one end of the long rod vertically fixes the center of a circular execution ring;

The lower part of the fixing plate is fixed with a connector with a through hole in the center and a circular distribution of hinge ports at equal intervals around the periphery; There are strip-shaped grooves, and all the grooves are carried out in series; the diameter of the circle enclosed by the ends of all the grooves near the hinge interface is smaller than the diameter enclosed by the other ends of all the grooves; the length of the long rod The end is fixed with the pull rod; a steering gear is arranged on the fixing plate, and the power output end of the steering gear is hinged with the pull rod through a connecting rod group; the steering gear is electrically connected with the control board through a serial port line.

Further, the grab hook includes: a connecting part hinged with the connector, a joint part detachably connected with the connecting part, and a claw part detachably connected with the joint part.

Further, the connecting portion is bolted to the joint portion, and the joint portion is bolted to the claw member.

Further, the connecting rod group includes two identical connecting rods A and B; machine output connection.

Further, four hinge ports are distributed around the connector, and the four hinge ports are hinged with the four connecting parts respectively.

Compared with the prior art, the utility model has the following beneficial effects: the mechanical claw (with a control board) is directly installed on the underground working platform, the main control board is fixed on the underground working platform, the mechanical claw is fixed according to the corresponding position, and the fixed direction is limited. In the vertical direction (the vertical grabbing effect is the best, and the grabbing effect is negatively correlated with the angle between the pull rod and the vertical normal), the lower cost can double the work efficiency by increasing the number of mechanical claws. The optimization of materials and the improvement of the rated power of the motor can effectively increase the load of the mechanical claw of the structure. The material selection and size of the parts of the utility model can be customized and processed according to the operation requirements. The structure is simple in design and assembly, accurate in grasping, simple in control system and high in fault tolerance. .

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of the movement part in the utility model;

Figure 3 is a schematic view of the structure of the grapple.

In the figure, 1 claw part, 2 joint parts, 3 connecting parts, 4 connectors, 5 fixed plates, 6 moving parts, 61 long rods, 62 execution rings, 7 steering gears, 8 connecting rods, 9 pulling rods.

Detailed ways

The present utility model will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Fig. 1, Fig. 2 and Fig. 3, a mechanical claw includes a fixing plate 5 with a circular hole, and the circular hole of the fixing plate 5 passes through the long rod 61 of the moving part 6 of the T-shaped structure. One end of the long rod 61 vertically fixes the center of the circular execution ring 62; the structures of the long rod 61 and the execution ring 61 are shown in 2.

As shown in FIG. 1 , below the fixing plate 5, a connector 4 with a through hole in the center and a circular and equally spaced hinged port is fixed; the hinged port of the connector 4 is hinged with one end of the hook respectively, and each The connecting portion 3 of each grapple is provided with strip grooves, and all the grooves are connected in series by the execution ring 62 . The grab hook includes: a connecting part 3 hinged with the connector 4 , a joint part 2 detachably connected with the connecting part 3 , and a claw part 1 detachably connected with the joint part 2 . The connecting portion 3 is connected with the joint portion 2 by bolts, and the joint portion 2 is connected with the claw member 1 by bolts.

The diameter of the circle enclosed by the ends of all the grooves near the hinge interface is smaller than the diameter enclosed by the other ends of all the grooves; wherein, there are four hinge ports distributed around the connector 4, and the four hinge ports are respectively connected with each other. The four connecting parts 3 are hinged.

The end of the long rod 61 is fixed with the pull rod 9; a steering gear 7 is provided on the fixed plate 5, and the power output end of the steering gear 7 is hinged with the pull rod 9 through a connecting rod group 8; the connecting rod group 8 includes two The same connecting rod A and connecting rod B; the pull rod 9 is hinged with one end of the connecting rod A, the other end of the connecting rod A is hinged with one end of the connecting rod B, and the other end of the connecting rod B is connected with the output end of the steering gear 7 . The steering gear 7 is electrically connected to the control board through a serial cable. Among them, the type of steering gear 7 is LDX-227.

When the utility model is in use, the grab hook is controlled through a given program on the steering gear control board; the grab hook can also adjust the actual angle of the claw part 1, the joint part 2 and the connection part 3 through the tightening of the bolts during use. , which is more suitable for the grabbing of coal gangue.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (5)

1. A gripper comprising a fixed plate (5) with a circular hole, characterized in that: a long rod (61) of the T-shaped structure moving part (6) penetrates through a round hole of the fixing plate (5), and one end of the long rod (61) is vertically fixed at the center of a circular execution ring (62);

a connector (4) with a through hole in the center and hinge ports distributed in a circular shape at equal intervals is fixed below the fixing plate (5); the hinged port of the connector (4) is hinged with one end of each grapple, a strip-shaped groove is arranged on the connecting part (3) of each grapple, and all the grooves are connected in series by an execution ring (62); the diameter of a circle surrounded by the end parts of all the grooves close to the hinge joint is smaller than the diameter surrounded by the other ends of all the grooves;

the end part of the long rod (61) is fixed with the pull rod (9); a steering engine (7) is arranged on the fixed plate (5), and the power output end of the steering engine (7) is hinged with a pull rod (9) through a connecting rod group (8);

the steering engine (7) is electrically connected with the control panel through a serial port line.

2. The gripper of claim 1, wherein the grapple comprises: a connecting part (3) hinged with the connector (4), a joint part (2) detachably connected with the connecting part (3), and a claw component (1) detachably connected with the joint part (2).

3. Gripper according to claim 2, characterized in that the connection (3) is bolted to the joint (2) and that the joint (2) is bolted to the gripper part (1).

4. The gripper of claim 1, wherein: the connecting rod group (8) comprises two same connecting rods A and B;

the pull rod (9) is hinged with one end of the connecting rod A, the other end of the connecting rod A is hinged with one end of the connecting rod B, and the other end of the connecting rod B is connected with the output end of the steering engine (7).

5. The gripper of claim 1, wherein: four hinge ports are distributed around the connector (4), and the four hinge ports are respectively hinged with the four connecting parts (3).

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