CN212241087U

CN212241087U - Mechanical claw

Info

Publication number: CN212241087U
Application number: CN202020608605.XU
Authority: CN
Inventors: 王云龙; 赵瑶; 雷超; 李珠江; 邬豪杰; 杨龙; 江帆; 刘博�
Original assignee: Huisen Coal Branch Of Shaanxi Energy Investment Co ltd; China University of Mining and Technology CUMT
Current assignee: Huisen Coal Branch Of Shaanxi Energy Investment Co ltd; China University of Mining and Technology CUMT
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2020-12-29
Anticipated expiration: 2030-04-21

Abstract

The utility model discloses a mechanical claw, which comprises a fixed plate and a moving part with a T-shaped structure, wherein one end of a long rod is vertically fixed at the center of a circular execution ring; a connector with a through hole in the center and hinge ports distributed in a circular shape at equal intervals is fixed below the fixing plate; the hinged port of the connector is hinged with one end of each grapple, a strip-shaped groove is arranged on the connecting part of each grapple, and all the grooves are connected in series by the execution ring; 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 is fixed with the pull rod; the fixed plate is provided with a steering engine, and the power output end of the steering engine is hinged with the pull rod through a connecting rod group. Has the advantages that: the mechanical gripper has the advantages that the working efficiency is improved through the mechanical gripper, the material optimization and the motor rated power promotion can effectively promote the load of the mechanical gripper with the structure, and the structure is simple in design and assembly, accurate in grabbing, simple and easy in control system and high in fault tolerance rate.

Description

Mechanical claw

Technical Field

The utility model relates to a mining equipment field, concretely relates to gripper.

Background

With the exploitation and utilization of mineral resources, the efficiency of coal mine underground operation becomes more important. As a large amount of solid wastes such as coal gangue and the like are generated in the coal mining and washing process and need to be treated in time. The existence of coal gangue mixed in coal can cause unnecessary energy loss, pollute the surrounding environment, and the coal that the burning gangue content is high also causes haze problem at present day by day serious leading cause. At present, mechanical structures for mechanically separating gangue used in a plurality of industries have the problems of large volume, medium quality and complex control system.

At present, the separation work of coal and gangue mainly comprises manual gangue selection. The heavy work carried out for a long time causes great harm to the physical and mental health of the gangue-sorting workers, so that the production efficiency is low, and the gangue-sorting is also easy to miss-sorting and wrong-sorting. Therefore, in order to improve the sorting efficiency and the fault tolerance of the coal gangue, the automation process of the coal mine production process is not slow in consideration of physical and psychological health of workers.

In the coal mine industry, the situation that partial machines replace manual work has already occurred, the identification technology of the coal gangue blocks has been preliminarily formed, corresponding sorting mechanical arms are configured, and partial gangue sorting robots special for sorting the coal gangue have also been provided, but the problems of complicated structure, high cost and low cost performance exist.

In view of this, the utility model aims at filling the not enough and lack in the aspect of the actuating mechanism design of letter sorting gangue, plans to propose a gripper structure of accurately snatching the gangue. The mechanical claw adopts the mature identification and control technology and the suitable material processing technology at present to realize the function of grabbing the coal gangue.

SUMMERY OF THE UTILITY MODEL

In order to solve the inconvenient problem of gripper snatching the gangue, the utility model provides a gripper of novel structure.

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

a mechanical claw comprises a fixing plate with a round hole, wherein a long rod of a T-shaped structure moving part penetrates through the round hole of the fixing plate, and one end of the long rod is vertically fixed at the center of a round execution ring;

a connector with a through hole in the center and hinge ports distributed in a circular shape at equal intervals is fixed below the fixing plate; the hinged port of the connector is hinged with one end of each grapple, a strip-shaped groove is arranged on the connecting part of each grapple, and all the grooves are connected in series by the execution ring; 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 is fixed with the pull rod; a steering engine is arranged on the fixed plate, and the power output end of the steering engine is hinged with the pull rod through a connecting rod group; the steering engine is electrically connected with the control panel through a serial port line.

Further, the grapple includes: the connecting part is hinged with the connector, the joint part is detachably connected with the connecting part, and the claw component is 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 comprises two same connecting rods A and B; the pull rod is hinged to one end of a connecting rod A, the other end of the connecting rod A is hinged to one end of a connecting rod B, and the other end of the connecting rod B is connected with the output end of the steering engine.

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

Compared with the prior art, the utility model discloses following beneficial effect has: the mechanical claw (with the control panel) is directly installed on the underground operation platform, the main control panel is fixed on the underground operation platform, the mechanical claw is fixed according to the corresponding position, the fixing direction is limited in the vertical direction (the vertical direction has the best grabbing effect, and the grabbing effect is negatively related to the included angle between the pull rod and the normal line of the vertical direction), and the working efficiency can be increased in a lower cost mode by increasing the number of the mechanical claws in a multiplied mode. The optimization of material and the promotion of motor rated power can effectively promote the load of this structure gripper, the utility model discloses part selection material and size can be processed according to the customization of operation demand, and this structural design equipment is simple, snatch accurate, control system is simple and easy, fault-tolerant rate is high.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the exercise section of the present invention;

fig. 3 is a schematic structural view of the grapple.

In the figure, a claw component 1, a joint component 2, a connecting component 3, a connector 4, a fixing plate 5, a moving component 6, a long rod 61, an execution ring 62, a steering engine 7, a connecting rod 8 and a pull rod 9.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, 2 and 3, a gripper comprises a fixing plate 5 with a round hole, wherein the fixing plate 5 passes through a long rod 61 of a T-shaped structure moving part 6 in the round hole, and one end of the long rod 61 is vertically fixed at the center of a round execution ring 62; the construction of the long rod 61 and the actuating ring 61 is shown in figure 2.

As shown in fig. 1, a connector 4 having a through hole at the center and hinge ports distributed at equal intervals in a circular shape is fixed below a fixing plate 5; the hinged mouth of the connector 4 is hinged with one end of the grapple respectively, and the connecting part 3 of each grapple is provided with a strip-shaped groove, and all the grooves are connected in series by the execution ring 62. The grapple includes: 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. The connecting portion 3 is bolted to the joint portion 2, and the joint portion 2 is bolted to the claw member 1.

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; four hinge interfaces are distributed around the connector 4 and are respectively hinged with the four connecting parts 3.

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 connecting rod group 8 comprises two same connecting rods A and B; the pull rod 9 is hinged with one end of a connecting rod A, the other end of the connecting rod A is hinged with one end of a connecting rod B, and the other end of the connecting rod B is connected with the output end of the steering engine 7. The steering engine 7 is electrically connected with the control panel through a serial port line. Wherein the type of the steering engine 7 is LDX-227.

When the utility model is used, the grapple is controlled through a given program on the steering engine control panel; the grapple can also be convenient for more be fit for the snatching of coal gangue through the actual angle of the elasticity regulation claw part 1 of bolt, articular portion 2 and connecting portion 3 in use.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

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).