Coal gangue separation parallel flexible three-degree-of-freedom robot

Abstract

The invention discloses a coal gangue separation parallel flexible three-degree-of-freedom robot. The robot is composed of a moving mechanism, a parallel mechanical arm and a paw mechanism, wherein the moving mechanism is transmitted by a lead screw nut pair and is supported by a double guide rod; the parallel mechanical arm is mainly composed of a left driving arm, a left driven arm, a right driving arm, a right driven arm and a moving platform, and the left side and right side are symmetrically distributed; the paw mechanism is fixedly arranged at the lower end of the movable platform, in order to keep horizontal of the movable platform, a toothed belt transmission and an auxiliary rod parallelogram mechanism are adopted, one end of the toothed belt transmission mechanism is fixed, and the other end of the toothed belt transmission mechanism swings along with the driving arms; in order to reduce the impact generated in the sorting process, a spring plate is adopted in the auxiliary rod mechanism to absorb vibration generated in the impact process; and the paw mechanism adopts a finger separable structure and can adapt to separation of coal gangue with different specifications. The mechanism has the advantages of being large in structural rigidity, strong in bearing capacity, small in tail end inertia and capable of providing a flexible buffer function.

Description

technical field [0001] The invention belongs to the technical field of coal mine separation, in particular to a parallel flexible three-degree-of-freedom robot for coal gangue separation. Background technique [0002] Coal gangue is the main solid discharge waste in the process of coal mining, coal washing and coal preparation. It has a great influence on the quality of coal. Therefore, coal gangue is separated in the production process of coal washing and preparation. At present, most of the sorting of coal gangue still relies on manual use of iron rakes to discharge coal gangue from the belt conveyor. This method is not only labor-intensive, but the sorting efficiency is low, and there are many misjudgments caused by manual labor. Although some enterprises are currently trying to use automated equipment for coal gangue sorting, most of them miss the selection due to slow speed and cannot keep up with the production rhythm, so they cannot be promoted. There are two main t...

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Problems solved by technology

However, it is very difficult to use the grasping method, because the shape of coal gangue is very irregular, and the claws cannot grasp coal gangue correctly and stably, and the actions of grasping and releasing will take up the production process time. Low efficiency; for another way, due to the large mass of large pieces of coal gangue, the existing automatic sorting equipment will produce a large impact in the process of setting aside coal gangue, because these equipment do not have the ability to absorb impact, As a result, the service life of these devices is greatly reduced under frequent impacts, and even serious damage is directly caused under larger impacts

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