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Positioning method for mounting cutting roller tooth holders through tooth holder robot

A positioning method and the technology of the roller tooth seat, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems that the cutting head manufacturing accuracy cannot meet the design requirements, and the installation error is large, so as to achieve high-precision manufacturing standards, promote lifting, reduce The time-consuming effect of tooth seat positioning

Inactive Publication Date: 2019-08-30
山西能源学院
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Problems solved by technology

[0003] The purpose of the present invention is to solve the technical problems of large installation errors and the manufacturing precision of the cutting head that cannot meet the design requirements in the existing installation method of the tooth seat of the cutting drum, and to provide a positioning method for the tooth seat of the tooth seat robot to install the tooth seat of the cutting drum

Method used

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  • Positioning method for mounting cutting roller tooth holders through tooth holder robot
  • Positioning method for mounting cutting roller tooth holders through tooth holder robot

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Embodiment Construction

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] Such as figure 1 and figure 2 As shown, a positioning method for installing a cutting drum tooth seat by a tooth seat robot in this embodiment includes the following steps:

[0017] 1) Install the tooth seat 3 to be positioned on the tooth seat mounting frame 4-6, and the initial state of the tooth seat 3 to be positioned is that the axis of the tooth seat mounting frame 4-6 and the axis of the horizontal linear guide rail 4-1 are collinear , the tooth seat robot 4 starts to execute the positioning program;

[0018] 2) The turntable 5-1 in the rotation positioning mechanism 5 flips up and down to a predetermined angle along the axis of the overturning gear 5-2 to complete the first spatial orientation of the gear seat 3 to be positioned; at the same time, the turntable 5-1 turns left and right around its own axis Rotate to a position separate...

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Abstract

The invention relates to a positioning method for mounting cutting roller tooth holders through a tooth holder robot and aims to solve the technical problems that the mounting error is great and the cutting head production accuracy cannot meet the design requirement in the existing cutting roller tooth holder mounting method. The technical scheme adopted by the invention is as follows: the positioning method for mounting the cutting roller tooth holders through the tooth holder robot comprises the following steps: (1) mounting a tooth holder to be positioned on a tooth holder mounting frame and enabling the tooth holder robot to start executing a positioning program; (2) a rotary positioning mechanism completing a first space orientating action and a first space positioning action of the tooth holder to be positioned; (3) when the actions in the step (2) are performed through a rotating disc, and the tooth holder positioning robot completing a second positioning action, a third space positioning action, a second space orientating action and a third space orientating action of the tooth holder to be positioned; and (4) when approaching to the target position, a horizontal linear guide rail moving to a target position at a low speed and finally completing the third space positioning action of the tooth holder.

Description

technical field [0001] The invention relates to a positioning method for a gear seat robot to install a cutting drum tooth seat, which belongs to the technical field of cutting drum tooth seat installation methods. Background technique [0002] The cutting drum tooth seat needs 6 pose parameters in space to ensure that the pick installed on it is in the correct design position, including 3 spatial positioning parameters of the tooth tip and 3 spatial orientation parameters of the pick axis. Usually, the three spatial position parameters of the tooth tip are determined by the center angle, axial height and axial radius of the cylindrical coordinate system; the three spatial orientation parameters of the pick axis can be obtained by rotating the Cartesian coordinate system in a certain order to obtain the design inverse angle, rotation and elevation. The traditional pick positioning method is to make an L-shaped plate that is similar to the profile of the cutting head and sli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/007
Inventor 张梦奇任晓霞张丽英李毅秦国强田原王学成张子英吴凤彪秦香果郭翰韬张晨张蕴宋昊峰郭鑫波
Owner 山西能源学院
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