An automatic bolt disassembling robot

Abstract

The application provides an automatic bolt dismounting robot, and relates to the technical field of bolt dismounting.The automatic bolt dismounting robot comprises a walking main body and a bolt punch, a position control mechanical arm for controlling the action position of the bolt punch is arranged on the upper end of the walking main body, the bolt punch comprises a power part and a punch bolt tail end, a first storage device for grabbing and storing nuts is arranged on the surface of the power part, the first storage device comprises a storage tail end and a power rotating shaft for controlling the deflection of the storage tail end, the power rotating shaft and the storage tail end are connected through a connecting platform, a first passing window is arranged on the side of the storage tail end close to the connecting platform, a second passing window is arranged on the side of the power rotating shaft away from the connecting platform, and the first passing window is matched with the position of the punch bolt tail end.The automatic bolt dismounting robot realizes full-automatic operation of bolt dismounting and nut taking, greatly improves the efficiency of bolt dismounting work, and ensures the safety of workers.

Description

Technical Field

[0001] This invention relates to the field of bolt removal technology, and more particularly to an automatic bolt removal robot. Background Technology

[0002] The liners protect the inner wall of the ball mill and reduce wear on the ball mill body caused by the grinding balls. The liners need to be removed and replaced after a certain period of operation. The ball mill liners are installed on the surface of the ball mill with bolts.

[0003] The ball mill liner is quite heavy and requires disassembly and installation using large-sized bolts. The nuts on the surface of these bolts need to be removed and installed using a bolt punch. Due to the large weight of the bolt punch, the traditional method of disassembling and installing bolts using a bolt punch is a semi-automatic operation where workers manually hold the bolt punch.

[0004] By designing an automatic bolt removal robot, the position of the bolt punch can be automatically adjusted, automatically aligning with the nuts on the surface of the ball mill, achieving automatic disassembly and assembly without manual intervention, thus improving the efficiency and stability of bolt removal. However, due to the structure of the bolt punch's end, it is difficult to store multiple nuts. After a single nut is removed, a worker needs to manually reach into the impact end of the bolt punch to remove it. This limits the efficiency of bolt removal and prevents complete automation. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides an automated bolt removal robot. This invention achieves fully automated operation of bolt removal and nut removal, greatly improving the efficiency of bolt removal work and ensuring the safety of workers.

[0006] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0007] An automatic bolt removal robot includes a walking body and a bolt punch. A position-controlled robotic arm is mounted on the upper end of the walking body to control the movement position of the bolt punch. The bolt punch includes a power unit and a bolt end. A first storage device for gripping and storing nuts is mounted on the surface of the power unit. The first storage device includes a storage end and a power shaft for controlling the deflection of the storage end. The power shaft and the storage end are connected via a connecting platform. A first passage window is opened on the side of the storage end near the connecting platform, and a second passage window is opened on the side of the power shaft away from the connecting platform. The first passage window is matched with the position of the bolt end. Gripping devices for controlling the movement of nuts are mounted on the outside of both the first and second passage windows. The gripping device opposite the first passage window grips the nuts in the bolt end and moves them into the storage end, while the gripping device opposite the second passage window pushes the nuts in the storage end out for centralized storage.

[0008] The first storage device can stably grasp and store the disassembled nuts at the end of the bolt, replacing the manual removal of nuts and realizing fully automated operation of bolt removal and nut removal, which greatly improves the efficiency of bolt removal work and ensures the safety of workers.

[0009] Preferably, a second storage device is also installed on the surface of the walking body. The inner diameter and position of the second storage device are matched with the second passage window. The gripping device opposite to the second passage window pushes the nut in the end of the punch into the second storage device for centralized storage.

[0010] The second storage device can centrally store nuts, reducing the pressure caused by excess nuts in the first storage device and ensuring that the first storage device can deflect and grasp nuts normally and quickly; at the same time, it can centrally collect nuts, which facilitates subsequent nut installation.

[0011] Preferably, the second storage device is further provided with a position control device, which drives the nut to move in a specific direction within the second storage device.

[0012] By setting up a position control device, the stability of the nut's movement within the second storage device can be further improved, ensuring that the nut moves in a directional and orderly manner. This is especially suitable for centralized storage of large quantities of large-sized nuts.

[0013] Preferably, the positioning control device includes a conveyor belt installed at the bottom of the second storage device. The bolt falls onto the surface of the conveyor belt, which can bear the bolt and transport it in a directional manner.

[0014] Preferably, the position control device includes an electrically rotating threaded rod, and the second storage device is provided with a guide structure for controlling the directional movement of the nut, wherein the outer diameter of the threaded rod is adapted to the inner diameter of the nut.

[0015] Preferably, a lifting device is installed at the bottom of the storage end, and the nut is controlled by the lifting device to move linearly between the first passage window and the second passage window.

[0016] Preferably, the gripping device includes a gripping body, a connecting rod, and a gripping cam. The gripping cam is fixed to the first end of the connecting rod. The gripping body controls the connecting rod to move along the axial direction and deflect around the axis. The gripping device is eccentrically installed relative to the end of the bolt.

[0017] The protruding part of the gripping cam can abut against the inner wall of the nut. Under the action of gravity, the inner wall of the nut can fit tightly against the upper end of the gripping cam. During the movement of the gripping cam, it can drive the nut to move synchronously, thereby realizing the loading and unloading control of the nut.

[0018] Preferably, the protruding part of the gripping cam has a threaded groove, which is adapted to the inner wall of the nut; the two can be in an interlocking state, which can further ensure the stability of the nut structure during the linear movement of the gripping cam.

[0019] The beneficial effects of this invention are as follows:

[0020] Compared with existing technologies, the first storage device can stably grasp and store the disassembled nut inside the end of the bolt, which can replace the manual action of removing the nut and realize the fully automated operation of bolt removal and nut removal, which greatly improves the efficiency of bolt removal work and ensures the safety of workers. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of a bolt removal robot in the existing technology.

[0022] Figure 2 This is a schematic diagram of the avoidance position of the first storage device of the present invention.

[0023] Figure 3 This is a schematic diagram of the nut-taking position in the first storage device of the present invention.

[0024] Figure 4 This is a three-dimensional structural diagram of the first storage device of the present invention.

[0025] Figure 5 This is a three-dimensional structural diagram of the first and second storage devices of the present invention.

[0026] Figure 6 This is a three-dimensional structural diagram of the gripping device of the present invention.

[0027] Figure 7 For the present invention Figure 6 A schematic diagram of the main structure.

[0028] Figure 8 This is a schematic diagram of the first state of the grasping cam in this invention.

[0029] Figure 9 This is a schematic diagram of the second state of the gripping cam in this invention.

[0030] In the diagram: 100, Walking body; 200, Position-controlled robotic arm; 210, Rotating body; 220, Installation body; 230, Moving body; 300, Bolt punch; 310, Power unit; 320, Connecting part; 330, Bolt end; 400, First storage device; 410, Connecting platform; 420, Power shaft; 430, Storage end; 431, First passage window; 432, Second passage window; 500, Gripping device; 510, Gripping body; 520, Connecting rod; 530, Gripping cam; 531, Threaded groove; 600, Lifting device; 700, Second storage device; 800, Nut. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] The liners protect the inner wall of the ball mill and reduce wear on the ball mill body caused by the grinding balls. The liners need to be removed and replaced after a certain period of operation. The ball mill liners are installed on the surface of the ball mill with bolts.

[0033] The ball mill liner is quite heavy and requires disassembly and installation using large-sized bolts. The nuts on the surface of these bolts need to be removed and installed using a bolt punch. Due to the large weight of the bolt punch, the traditional method of disassembling and installing bolts using a bolt punch is a semi-automatic operation where workers manually hold the bolt punch.

[0034] By designing an automatic bolt removal robot, the position of the bolt punch can be automatically adjusted, automatically aligning with the nuts on the surface of the ball mill, achieving automatic disassembly and assembly without manual intervention, thus improving the efficiency and stability of bolt removal. However, due to the structure of the bolt punch's end, it is difficult to store multiple nuts. After a single nut is removed, a worker needs to manually reach into the impact end of the bolt punch to remove it. This limits the efficiency of bolt removal and prevents complete automation.

[0035] Please refer to the appendix for details. Figure 1-9 To address the aforementioned issues, an automatic bolt removal robot is proposed, comprising a walking body 100, a position-controlled robotic arm 200 mounted on the upper end of the walking body 100, and a bolt punch 300. The position-controlled robotic arm 200 can control the bolt punch 300 to be positioned at different locations to remove or install bolts at predetermined positions.

[0036] The position-controlled robotic arm 200 here includes a rotating body 210, a mounting body 220, and a movable body 230. The bolt punch 300 is detachably mounted on the lower end of the mounting body 220. The rotating body 210 can control the overall deflection of the movable body 230 and the bolt punch 300. The movable body 230 can adjust the position between the bolt punch 300 and the bolt.

[0037] The bolt punch 300 here includes a power unit 310, a connecting part 320, and a punch end 330. The power unit 310 and the connecting part 320 can control the punch end 330 to rotate along a predetermined trajectory to remove the predetermined bolt. The inner diameter of the punch end 330 can be adjusted and replaced according to the nut to be removed.

[0038] In order to automatically collect the nuts removed by the bolt punch 300, a first storage device 400 is installed on the outside of the bolt punch 300. The first storage device 400 collects the removed nuts in an orderly manner, eliminating the need for manual operation by staff and achieving complete automation of bolt removal.

[0039] The first storage device 400 is rotatably connected to the bolt punch 300, and the first storage device 400 has an attached... Figure 2 The avoidance position shown and attached Figure 3 As shown in the diagram, during the bolt removal process using bolt punch 300, the first storage device 400 is controlled to be in the attached position. Figure 2 The posture shown avoids interference between the first storage device 400 and the ball mill; after the bolt punch 300 has removed the nut 800 on the surface of the ball mill, control the first storage device 400 to rotate to the position shown. Figure 3 As shown in the figure, the first storage device 400 is located outside the bolt punch 300. The nut 800 inside the end 330 of the bolt can be removed through the first storage device 400, realizing the complete automation of nut 800 removal and unloading, which greatly improves the work efficiency of the staff.

[0040] The first storage device 400 here includes a connecting platform 410, a power shaft 420, and a storage end 430. The connecting platform 410 is used to connect the power shaft 420 and the storage end 430. The power shaft 420 can adjust the deflection of the storage end 430 around a predetermined axis to achieve position control.

[0041] A first passage window 431 is provided on the side of the storage end 430 near the connecting platform 410. After the storage end 430 is rotated to the outside of the bolt end 330, the first passage window 431 can be opposite to the bolt end 330. A gripping device 500 is also installed on the outside of the first passage window 431. The gripping device 500 can remove the nut 800 in the bolt end 330 and automatically place the removed nut 800 into the storage end 430 for storage.

[0042] A second passage window 432 is provided at the lower end of the storage end 430. Another gripping device 500 is provided on the outside of the second passage window 432. The gripping device 500 can push out the nut 800 that has moved to the bottom and push it to the outside for centralized storage.

[0043] A second storage device 700 can be installed on the outside of the second access window 432. The second storage device 700 can centrally and orderly store the ejected nuts 800, which increases the number of nuts 800 stored at one time, avoids excessive weight caused by storing too many nuts 800 in the first storage device 400, reduces the deflection burden of the first storage device 400, and avoids deformation of the first storage device 400.

[0044] In order to reduce the pressure on the gripping device 500 corresponding to the second access window 432, a position control device for controlling the directional movement of the nut 800 can be installed in the second storage device 700. The position control device can drive the nut 800 in the second storage device 700 to move in a specific direction, ensuring that multiple nuts 800 are placed in an orderly manner, while reducing the burden on the gripping device 500 to push multiple nuts 800.

[0045] The positioning device here can be an existing conveyor belt, which is installed at the bottom of the second storage device 700. After the gripping device 500 pushes the nut 800 out of the second passage window 432, the bolt falls onto the surface of the conveyor belt, which can bear the bolt and transport it in a directional manner.

[0046] The positioning control device can also be selected as a directional rotating threaded rod, and the inner diameter of the second storage device 700 is designed to match the outer diameter of the lifting device 600 and is equipped with a guide structure. The gripping device 500 can push the nut 800 relative to the threaded rod. When the threaded rod is directionally rotated in the first direction, the nut 800 can be captured. At the same time, the nut 800 slides relative to the inner wall of the second storage device 700. At this time, the nut 800 moves directionally under the action of the threaded rod, realizing orderly storage.

[0047] The threaded rod can accommodate the nut 800 in an orderly manner, preventing the bolt from shaking; however, it should be noted that the outer diameter of the threaded rod must be compatible with the inner diameter of the nut 800.

[0048] Installing a position control device in the second storage device 700 can also control the nut 800 to move in the reverse direction into the second passage window 432, realizing the reverse feeding of the nut 800. At the bottom of the storage end 430, a matching lifting device 600 also needs to be installed. The lifting device 600 can lift the nut 800 that has entered the second passage window 432 in reverse direction, lift it to the first passage window 431, and finally push the nut 800 out through the gripping device 500 opposite to the first passage window 431 and push it into the end of the punch 330, thus completing the reverse feeding of the nut 800 and completing the automatic feeding of the nut 800 installation. This realizes the automation of the nut 800 installation and improves the efficiency of nut 800 disassembly and installation.

[0049] The lifting device 600 here can be an existing electric telescopic rod, which can control the lifting of the nut 800. During the lifting process, it is necessary to adjust the plane of the nut 800 to be at the bottom to ensure the stability of the bolt during the lifting and movement process.

[0050] One nut 800 is placed at a time in the storage end 430 to avoid the inconvenience caused by multiple nuts 800 being lifted simultaneously.

[0051] The gripping device 500 here can be an existing mature clamping device that can extend into the bolt punch 300 to disassemble the nut 800.

[0052] This application provides a more preferred gripping device 500 structure. Specifically, the gripping device 500 includes a gripping body 510, a connecting rod 520, and a gripping cam 530. The gripping body 510 can control the directional rotation and extension and retraction of the connecting rod 520. The gripping cam 530 is installed at the end of the connecting rod 520. The connecting rod 520 can extend into the nut 800 and cooperate with the inner wall of the nut 800 to achieve stable gripping of the nut 800.

[0053] After the gripping cam 530 has gripped and stabilized the nut 800, the control connecting rod 520 is retracted into the first passage window 431 or the second passage window 432. Then, the gripping cam 530 is disengaged from the nut 800. After the gripping cam 530 and the nut 800 are disengaged, the control connecting rod 520 is used again to drive the gripping cam 530 to retract, so that the nut 800 and the gripping cam 530 are completely misaligned, thus preventing the normal lifting and movement of the nut 800.

[0054] Please refer to the appendix for details. Figure 8 and appendix Figure 9 The gripping device 500 is eccentrically mounted relative to the end of the bolt 330, controlling the gripping cam 530 to rotate to the attachment point. Figure 8 As shown, the gripping cam 530 can freely move in and out of the nut 800, and the gripping cam 530 can be controlled to rotate to the attached position. Figure 9 As shown, the protruding part of the gripping cam 530 can abut against the inner wall of the nut 800. Under the action of gravity, the inner wall of the nut 800 can fit tightly against the upper end of the gripping cam 530. During the movement of the gripping cam 530, it can drive the nut 800 to move synchronously, thereby realizing the loading and unloading control of the nut 800.

[0055] It should be noted that the design here requires a reasonable gap between the inner diameter of the end of the punch 330 and the nut 800, so that the nut 800 can be disassembled and assembled normally, and can be removed normally after being lifted; the size of the protrusion on the surface of the gripping cam 530 should be appropriate to avoid the protrusion being too large, which would cause the outer wall of the nut 800 to be pressed against the inner wall of the end of the punch 330 and make it impossible to remove.

[0056] A threaded groove 531 can be formed on one side of the protrusion of the gripping cam 530. The threaded groove 531 can be adapted to the inner wall of the nut 800, and the two can be in a meshing state. During the linear movement of the gripping cam 530, the stability of the nut 800 structure can be further guaranteed.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic bolt removal robot, comprising a walking body (100) and a bolt punch (300), wherein a position-controlled robotic arm (200) for controlling the movement position of the bolt punch (300) is mounted on the upper end of the walking body (100), characterized in that: The bolt punch (300) includes a power unit (310) and a punch end (330). The power unit (310) has a first storage device (400) for gripping and storing nuts (800) mounted on its surface. The first storage device (400) includes a storage end (430) and a power shaft (420) for controlling the deflection of the storage end (430). The power shaft (420) and the storage end (430) are connected by a connecting platform (410). The storage end (430) has a first passage window (431) on the side closer to the connecting platform (410) and a second passage window (432) on the side farther away from the connecting platform (410). The first passage window (431) is matched with the position of the punch end (330). Both the first access window (431) and the second access window (432) are equipped with gripping devices (500) for controlling the movement of nuts (800). The gripping device (500) opposite to the first access window (431) grips the nut (800) in the end of the punch (330) and moves it into the storage end (430). The gripping device (500) opposite to the second access window (432) pushes the nut (800) in the storage end (430) out for centralized storage. A second storage device (700) is also installed on the outside of the second passage window (432). The inner diameter and position of the second storage device (700) match the second passage window (432). The gripping device (500) opposite to the second passage window (432) pushes the nut (800) in the end of the bolt (330) into the second storage device (700) for centralized storage. A lifting device (600) is installed at the bottom of the storage terminal (430), and the lifting device (600) controls the nut (800) to move linearly between the first passage window (431) and the second passage window (432); The gripping device (500) includes a gripping body (510), a connecting rod (520), and a gripping cam (530). The gripping cam (530) is fixed to the first end of the connecting rod (520). The gripping body (510) controls the connecting rod (520) to move along the axial direction and deflect around the axis. The gripping device (500) is eccentrically mounted relative to the end of the bolt (330). The protruding part of the gripping cam (530) has a threaded groove (531), which is adapted to the inner wall of the nut (800).

2. The automatic bolt removal robot according to claim 1, characterized in that, The second storage device (700) is also provided with a position control device, which drives the nut (800) to move in a specific direction within the second storage device (700).

3. The automatic bolt removal robot according to claim 2, characterized in that, The position control device includes a conveyor belt installed at the bottom of the second storage device (700). Bolts fall onto the surface of the conveyor belt, which carries and directionally transports the bolts.

4. The automatic bolt removal robot according to claim 2, characterized in that, The position control device includes an electrically rotating threaded rod, and the second storage device (700) is provided with a guide structure for controlling the directional movement of the nut (800), wherein the outer diameter of the threaded rod is adapted to the inner diameter of the nut (800).

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