An automatic online assembly mechanism for a mine hoist guide wheel rope liner

Abstract

The present application relates to the technical field of coal mine equipment, and more particularly to a mine hoist guide wheel rope lining automatic online assembly mechanism, which comprises a portal frame, a guide wheel body, a feeding assembly, a feeding assembly and a press-fitting assembly. The portal frame is arranged on one side of the guide wheel body. The feeding assembly is used for conveying the guide wheel rope groove gasket. The feeding assembly is used for feeding the guide wheel rope groove gasket on the feeding assembly to the guide wheel body. The press-fitting assembly comprises a linear actuator, a high-frequency vibrator, an extended connecting rod, a knocking module and a position detection unit. The linear actuator is installed on the portal frame. The output end of the linear actuator is connected with the high-frequency vibrator. The output end of the high-frequency vibrator is connected with the knocking module. The position detection unit is arranged on the knocking module. In this way, the technical problem of high labor intensity and time-consuming and laborious work of workers in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of coal mine equipment technology, and in particular to an automated online assembly mechanism for the guide wheel rope lining of a mine hoist. Background Technology

[0002] In such Figure 1 In the coal mine hoisting system shown, the rope groove liner, as the main component bearing the contact friction between the wire rope and the guide wheel and drive drum, will have its uneven wear and excessive wear affect the tension balance of the wire rope, and must be maintained and replaced regularly; the installation position of the rope groove liner of the guide wheel is as follows: Figure 2 As shown, at the concave part on the outer side of the guide wheel, there is a guide slope for the wire rope on the outer side of the rope groove liner, and its installation and operation space is narrow; the installation part is a dovetail groove structure, which is smaller on the outside and larger on the inside; the three views of the single-sided rope groove liner before assembly are shown below. Figure 3 As shown, this is a half-wedge structure. During assembly, as follows: Figure 4 As shown, the two single-sided rope groove pads are spliced ​​together and fixed in the dovetail groove by wedge pressing.

[0003] Currently, in the existing methods in the coal mining industry, the assembly of rope groove liners is usually done manually. In order to ensure the tight fit of the rope groove liners in the dovetail groove, the beveled fitting angle is usually 6-8° and the fitting distance is 6-12mm. Workers need to use a 6-pound hammer to strike the liners 10-20 times to complete the assembly of a set of liners. A guide wheel set usually has 4 or 6 wheels, and each wheel has about 200 sets of liners. When the assembly is done manually, the labor intensity of the workers is high, and it is time-consuming and labor-intensive. Summary of the Invention

[0004] The purpose of this invention is to provide an automated online assembly mechanism for the guide wheel rope liner of a mine hoist, which aims to solve the technical problems of high labor intensity and time and effort for workers when assembling manually in the prior art.

[0005] To achieve the above objectives, the present invention employs an automated online assembly mechanism for the guide wheel liner of a mine hoist, comprising a gantry frame, a guide wheel body, a feeding assembly, a loading assembly, and a pressing assembly. The gantry frame is disposed on one side of the guide wheel body, the feeding assembly is used to convey the guide wheel liner, and the loading assembly is used to load the guide wheel liner from the feeding assembly onto the guide wheel body.

[0006] The pressing assembly includes a linear driver, a high-frequency vibrator, an extended extension rod, a striking module, and a position detection unit. The linear driver is mounted on the gantry frame, and its output end is connected to the high-frequency vibrator. The output end of the high-frequency vibrator is connected to the striking module, and the position detection unit is disposed on the striking module.

[0007] The feeding assembly includes a six-axis robot and a separate dual gripper unit installed at the execution end of the six-axis robot;

[0008] The split dual-gripper unit includes a mounting base plate, a slide cylinder, two double-acting cylinders, and multiple grippers. The mounting base plate is connected to the execution end of the six-axis robot. The mounting base plate has a wedge-shaped step. The slide cylinder is located next to the wedge-shaped step and is mounted on the mounting base plate. The output end of the slide cylinder is connected to one of the double-acting cylinders. The other double-acting cylinder is mounted on the wedge-shaped step. The output end of the double-acting cylinder is equipped with the gripper.

[0009] The striking module includes a hinged joint and a striking hammer head. The hinged joint is fixedly connected to the extended extension rod, and the striking hammer head is hinged to the hinged joint.

[0010] The striking module also includes an auxiliary support spring, which is disposed in the hinge joint and the striking hammer head bracket.

[0011] The auxiliary support springs are two in number, and the two auxiliary support springs are symmetrically arranged on the hinge joint.

[0012] The automated online assembly mechanism for the guide wheel rope lining of the mine hoist also includes a clamping and fixing component, which is mounted on the gantry.

[0013] The clamping and fixing assembly includes a brake cylinder, a brake linkage, and a brake lever. The brake cylinder is installed at the lower part of the gantry frame, and the output end of the brake cylinder is connected to the brake lever through the brake linkage.

[0014] This invention discloses an automated online assembly mechanism for guide wheel rope liners in a mine hoist. The linear actuator in this invention is a vertical linear actuator within an XZ two-way drive mechanism. The horizontal linear actuator in the XZ two-way drive mechanism is mounted on the crossbeam at the top of the gantry frame, while the vertical linear actuator is mounted at the output end of the horizontal linear actuator. That is, the vertical linear actuator is connected to the gantry frame via the horizontal linear actuator. This allows adjustment of the high-frequency vibrator's vertical working position via the vertical linear actuator and its horizontal working position via the horizontal linear actuator. First, the feeding assembly grasps two symmetrical single-sided rope groove liners. The slide cylinder actuates, causing the two liners to separate vertically. Then, the six-axis robotic arm feeds the liners, causing them to simultaneously enter the dovetail groove, one above the other. Afterwards… The six-axis robotic arm is rotated so that one of the single-sided rope groove pads fits into the dovetail groove. Finally, the slide cylinder is reset until both single-sided rope groove pads fit together, completing the initial assembly. The feeding component then leaves, and the linear actuator drives the hammer head to move downwards. When the pressure detection device detects that the hammer head has contacted the single-sided rope groove pad above, the linear actuator stops. The high-frequency vibrator drives the hammer head to perform a striking action. During the striking, the clamping and fixing component clamps and fixes the guide wheel to prevent rotation under force. The assembly continues until the position detection unit detects that the bottom surface of the hammer head is flush with the bottom surface of the position detection block, indicating that the two single-sided rope groove pads are flush and pressed into place. The assembly of this rope groove pad is completed, and the assembly of the next rope groove pad begins, until all the rope groove pads to be assembled are in place.

[0015] The present invention has the following beneficial effects:

[0016] 1. This invention uses mechanized and automated equipment to replace manual labor, solving the problem of high labor intensity caused by manual hammering;

[0017] 2. The present invention adopts a uniquely designed special clamping mechanism, which solves the problem that a single robotic arm cannot install two (or a set of) pads simultaneously in a confined space under conventional approaches.

[0018] 3. The present invention adopts a uniquely designed pressing mechanism, which enables accurate positioning, strong striking, continuous operation of the wheel assembly, and adaptive and self-adjusting pressing direction on the arc surface in a confined space. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram showing the position and layout of guide wheels during coal mine production.

[0021] Figure 2 This is a structural diagram of the guide wheel and rope groove liner.

[0022] Figure 3 These are three views of the single-sided rope groove liner before assembly.

[0023] Figure 4 This is a schematic diagram of the rope groove liner assembly process.

[0024] Figure 5 This is a schematic diagram of the automated online assembly mechanism for the guide wheel rope liner of the mine hoist of the present invention.

[0025] Figure 6 This is a top view of the automated online assembly mechanism for the guide wheel rope liner of the mine hoist of the present invention.

[0026] Figure 7 This is a side view of the press-fit assembly of the present invention.

[0027] Figure 8 This is the invention Figure 7 Enlarged view of the local structure at point A.

[0028] Figure 9 This is a front view of the press-fit assembly of the present invention.

[0029] Figure 10 This is the invention Figure 9 Enlarged view of the local structure at point B.

[0030] Figure 11 This is a front view of the detachable dual-claw unit of the present invention.

[0031] Figure 12 This is a side view of the detachable dual-claw unit of the present invention.

[0032] Figure 13 This is a schematic diagram of the clamping and fixing component of the present invention.

[0033] Figure 14 This is a schematic diagram of the working process of the feeding mechanism of the present invention. Figure 1 .

[0034] Figure 15 This is a schematic diagram of the working process of the feeding mechanism of the present invention. Figure 2 .

[0035] Figure 16 This is a schematic diagram of the working process of the pressing mechanism of the present invention. Figure 3 .

[0036] Figure 17 This is a schematic diagram of the position detection unit of the invention.

[0037] 101-Gantry frame, 102-Guide wheel body, 103-Feeding assembly, 104-Loading assembly, 105-Pressure assembly, 106-Clamping and fixing assembly, 107-Linear drive, 108-High frequency vibrator, 109-Extended extension rod, 110-Position detection unit, 111-Six-axis robot, 112-Mounting base plate, 113-Slide cylinder, 114-Double-acting cylinder, 115-Gripper, 116-Hinged joint, 117-Strike hammer, 118-Auxiliary support spring, 119-Brake cylinder, 120-Brake linkage, 121-Brake swing block. Detailed Implementation

[0038] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0039] Please see Figures 1 to 17 ,in Figure 1 This is a schematic diagram showing the position and layout of guide wheels during coal mine production. Figure 2 This is a structural diagram of the guide wheel and rope groove liner. Figure 3 These are three views of the single-sided rope groove liner before assembly. Figure 4 This is a schematic diagram of the rope groove liner assembly process. Figure 5 This is a schematic diagram of the automated online assembly mechanism for the guide wheel rope liner of the mine hoist of the present invention. Figure 6 This is a top view of the automated online assembly mechanism for the guide wheel rope liner of the mine hoist of the present invention. Figure 7 This is a side view of the press-fit assembly of the present invention. Figure 8 This is the invention Figure 7 Enlarged view of the local structure at point A. Figure 9 This is a front view of the press-fit assembly of the present invention. Figure 10 This is the invention Figure 9 Enlarged view of the local structure at point B. Figure 11 This is a front view of the detachable dual-gripper unit of the present invention. Figure 12 This is a side view of the detachable dual-claw unit of the present invention. Figure 13 This is a schematic diagram of the clamping and fixing component of the present invention. Figure 14This is a schematic diagram of the working process of the feeding mechanism of the present invention. Figure 1 , Figure 15 This is a schematic diagram of the working process of the feeding mechanism of the present invention. Figure 2 , Figure 16 This is a schematic diagram of the working process of the pressing mechanism of the present invention. Figure 3 , Figure 17 This is a schematic diagram of the position detection unit of the invention.

[0040] This invention provides an automated online assembly mechanism for guide wheel rope liners in mine hoists, comprising a gantry frame 101, a guide wheel body 102, a feeding assembly 103, a loading assembly 104, a pressing assembly 105, and a clamping and fixing assembly 106. The gantry frame 101 is disposed on one side of the guide wheel body 102. The feeding assembly 103 is used to convey the guide wheel rope groove liner, and the loading assembly 104 is used to load the guide wheel rope groove liner from the feeding assembly 103 onto the guide wheel body 102.

[0041] The pressing assembly 105 includes a linear driver 107, a high-frequency vibrator 108, an extension rod 109, a striking module, and a position detection unit 110. The linear driver 107 is mounted on the gantry frame 101. The output end of the linear driver 107 is connected to the high-frequency vibrator 108. The output end of the high-frequency vibrator 108 is connected to the striking module. The position detection unit 110 is disposed on the striking module. The clamping and fixing assembly 106 is disposed on the gantry frame 101.

[0042] The feeding assembly 104 includes a six-axis robot 111 and a separate dual gripper unit installed at the execution end of the six-axis robot 111;

[0043] The split dual-gripper unit includes a mounting base plate 112, a slide cylinder 113, two double-acting cylinders 114, and multiple grippers 115. The mounting base plate 112 is connected to the execution end of the six-axis robot 111. The mounting base plate 112 has a wedge-shaped step. The slide cylinder 113 is located next to the wedge-shaped step and is mounted on the mounting base plate 112. The output end of the slide cylinder 113 is connected to one of the double-acting cylinders 114. The other double-acting cylinder 114 is mounted on the wedge-shaped step. The output end of the double-acting cylinder 114 is provided with the gripper 115.

[0044] The striking module includes a hinge joint 116 and a striking hammer head 117. The hinge joint 116 is fixedly connected to the extended extension rod 109, and the striking hammer head 117 is hinged to the hinge joint 116.

[0045] In this specific embodiment, the feeding assembly 104 first grasps two symmetrical single-sided rope groove pads. The slide cylinder 113 actuates, causing the two pads to separate vertically. Then, the six-axis manipulator 111 feeds the pads, causing the two single-sided rope groove pads to simultaneously enter the dovetail groove, one above the other. Afterward, the manipulator arm of the six-axis manipulator 111 rotates, causing one of the single-sided rope groove pads to conform to the dovetail groove. Finally, the slide cylinder 113 resets until the two single-sided rope groove pads are in contact, completing the initial assembly. The feeding assembly 104 then leaves, and subsequently, the linear actuator 107 drives the striking hammer head 117 to move downward. When the pressure detection device detects that the hammer head 117 has contacted the single-sided rope groove pad above, the linear drive 107 stops; the high-frequency vibrator 108 drives the hammer head 117 to perform a striking action. During the striking, the clamping and fixing assembly 106 clamps and fixes the guide wheel to prevent rotation under force; until the position detection unit 110 detects that the bottom surface of the hammer head 117 is flush with the bottom surface of the position detection block, it means that the two single-sided rope groove pads are flush and have been pressed into place. The assembly of this rope groove pad is completed, and the assembly of the next rope groove pad begins, until all the rope groove pads to be assembled are assembled in place.

[0046] The striking module also includes an auxiliary support spring 118, which is disposed on the hinge joint 116 and the hammer head 117 bracket.

[0047] Two auxiliary support springs 118 are symmetrically arranged on the hinge joint 116. Because the high-frequency vibrator 108 is relatively large and cannot directly enter the dovetail groove of the guide wheel, an extension rod 109 is used to extend it. Since the rope groove liner is installed around the circumference of the guide wheel body 102 and its structure is a fan-shaped segment with an arc curve, the striking hammer head 117 is installed on the hinge joint 116 to accommodate angle changes during press-fitting, achieving conformal floating. To ensure that the hammer head 117 maintains the correct angle when it is not in contact with the horizontal end face of the pad and when it is in initial contact with the pad, and that it does not change randomly due to the floating mechanism, an auxiliary support spring 118 is installed at its hinge. The preload of the auxiliary support spring 118 maintains the correct striking surface angle of the hammer head 117 in the initial state. When the hammer head 117 contacts the pad of the rope groove and the force it receives is greater than the elastic force of the auxiliary support spring 118, the hinge shaft rotates, and the end face of the hammer head 117 fits perfectly with the horizontal end face of the pad of the rope groove, avoiding the phenomenon of skewed insertion or jamming due to incorrect force.

[0048] Secondly, the clamping and fixing assembly 106 includes a brake cylinder 119, a brake linkage 120, and a brake swing block 121. The brake cylinder 119 is installed at the lower part of the gantry frame 101. The output end of the brake cylinder 119 is connected to the brake swing block 121 through the brake linkage 120. As the brake cylinder 119 moves, the brake swing block 121 will reciprocate under the drive of the brake linkage 120, thereby achieving the desired effect. Figure 14 As shown, the wheel swings forward and contacts the surface of the guide wheel body 102, thereby locking the guide wheel body 102 and achieving a braking effect.

[0049] An automated online assembly mechanism for the guide wheel rope liner of a mine hoist, according to the present invention, has the following features:

[0050] Beneficial effects:

[0051] 1. This invention uses mechanized and automated equipment to replace manual labor, solving the problem of high labor intensity caused by manual hammering;

[0052] 2. The present invention adopts a uniquely designed special clamping mechanism, which solves the problem that a single robotic arm cannot install two (or a set of) pads simultaneously in a confined space under conventional approaches.

[0053] 3. The present invention adopts a uniquely designed pressing mechanism, which enables accurate positioning, strong striking, continuous operation of the wheel assembly, and adaptive and self-adjusting pressing direction on the arc surface in a confined space.

[0054] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. An automated online assembly mechanism for the guide wheel rope liner of a mine hoist, characterized in that, It includes a gantry frame, a guide wheel body, a feeding assembly, a loading assembly, a pressing assembly, and a clamping and fixing assembly. The gantry frame is located on one side of the guide wheel body. The feeding assembly is used to convey the guide wheel rope groove liner. The loading assembly is used to load the guide wheel rope groove liner from the feeding assembly onto the guide wheel body. The pressing assembly includes a linear driver, a high-frequency vibrator, an extended extension rod, a striking module, and a position detection unit. The linear driver is mounted on the gantry frame, the output end of the linear driver is connected to the high-frequency vibrator, the output end of the high-frequency vibrator is connected to the striking module, the position detection unit is disposed on the striking module, and the clamping and fixing assembly is disposed on the gantry frame. The feeding assembly includes a six-axis robot and a separate dual-gripper unit installed at the execution end of the six-axis robot; The split dual-gripper unit includes a mounting base plate, a slide cylinder, two double-acting cylinders, and multiple grippers. The mounting base plate is connected to the execution end of the six-axis robot. The mounting base plate has a wedge-shaped step. The slide cylinder is located next to the wedge-shaped step and is mounted on the mounting base plate. The output end of the slide cylinder is connected to one of the double-acting cylinders. The other double-acting cylinder is mounted on the wedge-shaped step. The output end of the double-acting cylinder is equipped with the grippers. The clamping and fixing assembly includes a brake cylinder, a brake linkage, and a brake swing block. The brake cylinder is installed at the lower part of the gantry frame, and the output end of the brake cylinder is connected to the brake swing block through the brake linkage.

2. The automated online assembly mechanism for the guide wheel rope liner of a mine hoist as described in claim 1, characterized in that, The striking module includes a hinged joint and a striking hammer head. The hinged joint is fixedly connected to the extended extension rod, and the striking hammer head is hinged to the hinged joint.

3. The automated online assembly mechanism for the guide wheel rope liner of a mine hoist as described in claim 2, characterized in that, The striking module also includes an auxiliary support spring, which is disposed on the hinge joint and the striking hammer head bracket.

4. The automated online assembly mechanism for the guide wheel rope liner of a mine hoist as described in claim 3, characterized in that, The number of auxiliary support springs is two, and the two auxiliary support springs are symmetrically arranged on the hinge joint.

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