Intelligent auxiliary operation platform for disassembling and assembling carrier roller for belt conveyor

Abstract

The invention belongs to the technical field of belt conveyor maintenance, and particularly relates to an intelligent auxiliary operation platform for dismounting and mounting a carrier roller for a belt conveyor. Comprising a posture adjusting platform capable of adjusting direction, inclination angle and height; two groups of sliding telescopic mechanisms with the same telescopic direction are carried on the posture adjusting platform, and are respectively a left sliding telescopic mechanism and a right sliding telescopic mechanism; an action terminal of the left sliding telescopic mechanism carries a belt lifting supporting mechanism, and an action terminal of the right sliding telescopic mechanism carries a multi-degree-of-freedom disassembly and assembly manipulator; the belt lifting and supporting mechanism is used for supporting and lifting a belt of the belt conveyor to a certain height, and an operation space for disassembling and assembling a carrier roller is formed. The multi-degree-of-freedom dismounting manipulator is used for grabbing a target carrier roller; the operation platform can be conveniently and rapidly carried on wheel type or wheel-belt type walking equipment, mechanical carrier roller replacement operation under the condition that a belt conveyor is not stopped is achieved underground, operation efficiency is improved, and operation intensity is relieved.

Description

Technical Field

[0001] The invention belongs to the technical field of belt conveyor maintenance, and in particular relates to an intelligent auxiliary operation platform for disassembling and assembling rollers for belt conveyors. Background Art

[0002] As the key equipment for continuous, long-distance and large-volume transportation in coal mines, belt conveyors are mainly used to transport discrete materials such as block, granular or powdered coal and ore. According to statistics, due to the harsh working environment and long-term wear, roller failure accounts for 78.9% of the total failures of belt conveyors. Early detection of roller abnormalities and efficient replacement of damaged rollers are one of the key maintenance tasks to ensure the normal operation of belt conveyors and guarantee coal mine production. At present, underground coal mines mainly rely on manual labor to complete the maintenance and replacement of damaged rollers. Due to the narrow working environment of the tunnel, the belt conveyor needs to be shut down frequently, and 3 to 4 workers use tools such as crowbars and jacks to complete the replacement. This not only affects the normal coal production efficiency, but also causes high labor intensity and cumbersome operation process of manual labor, and also causes various safety accidents.

[0003] It is urgent to develop an intelligent auxiliary operation platform for the disassembly and assembly of rollers for belt conveyors, which can be conveniently and quickly mounted on wheeled or wheel-belt walking equipment, so as to realize the mechanized roller replacement operation of the belt conveyor without stopping the machine underground, thereby improving the operation efficiency, reducing the operation intensity, ensuring the continuity of the coal mining process, improving the safety and reliability of the roller replacement process, and promoting efficient and intensive production in coal mines. Summary of the invention

[0004] Aiming at the problem that it is difficult to disassemble and replace rollers for long-distance transportation of belt conveyors in underground coal mines, the present invention provides a device that can be mounted on a wheeled or wheel-belt traveling device and can realize mechanized replacement of rollers for the belt conveyor without stopping the belt conveyor underground.

[0005] The present invention provides the following technical solutions: an intelligent auxiliary working platform for disassembly and assembly of rollers for belt conveyors, comprising a posture adjustment platform with adjustable direction, inclination and height; the posture adjustment platform is equipped with two sets of sliding telescopic mechanisms with the same telescopic direction, namely a left sliding telescopic mechanism and a right sliding telescopic mechanism; the action terminal of the left sliding telescopic mechanism is equipped with a belt lifting support mechanism, and the action terminal of the right sliding telescopic mechanism is equipped with a multi-degree-of-freedom disassembly and assembly robot; the belt lifting support mechanism is used to support and lift the belt of the belt conveyor to a certain height to form an operation space for disassembly and assembly of rollers; the multi-degree-of-freedom disassembly and assembly robot is used to grab the target rollers.

[0006] Furthermore, the sliding and telescopic mechanism includes a primary sliding plate, a secondary sliding plate, a tertiary sliding plate, a primary pushing cylinder, a secondary pushing cylinder and a tertiary pushing cylinder; a dovetail groove sliding structure is formed between the primary sliding plate and the posture adjustment platform, between the secondary sliding plate and the primary sliding plate, and between the tertiary sliding plate and the secondary sliding plate; a primary pushing cylinder is connected between the posture adjustment platform and the primary sliding plate, and the primary sliding plate is driven to slide by the primary pushing cylinder with the posture adjustment platform as the base; a secondary pushing cylinder is connected between the secondary sliding plate and the primary sliding plate, and the primary sliding plate is driven to slide by the secondary pushing cylinder with the primary sliding plate as the base; a tertiary pushing cylinder is connected between the tertiary sliding plate and the secondary sliding plate, and the tertiary sliding plate is driven to slide by the tertiary pushing cylinder with the secondary sliding plate as the base.

[0007] Furthermore, the multi-degree-of-freedom disassembly and assembly robot includes six spatial degrees of freedom, namely, horizontal lateral sliding, horizontal longitudinal sliding, left and right swinging, vertical downward sliding, front and back swinging, and self-clamping, which are superimposed on each other in stages.

[0008] Furthermore, the multi-degree-of-freedom disassembly and assembly manipulator includes a longitudinal sliding frame, a multiplication adjustment cylinder, a sliding base, a swing frame, a sliding frame, an upper jaw plate and a lower jaw plate;

[0009] The longitudinal sliding frame is slidably assembled on the three-stage sliding plate of the right sliding telescopic mechanism, the longitudinal sliding frame and the three-stage sliding plate are connected with the longitudinal push cylinder, the sliding direction of the longitudinal sliding frame is perpendicular to the sliding direction of the three-stage sliding plate, the sliding base adopts a slot structure to slide with the longitudinal sliding frame, the two ends of the cylinder rod of the multiplier deviation adjustment cylinder are connected to the longitudinal sliding frame, the two nodes of the transmission chain on the cylinder barrel of the multiplier deviation adjustment cylinder are respectively connected to the sliding base and the longitudinal sliding frame, and the sliding direction of the sliding base is perpendicular to the sliding direction of the longitudinal sliding frame;

[0010] The swing frame is installed offset relative to the sliding base and is hinged with a pin shaft. The left and right swing cylinders are connected between the swing frame and the sliding base to drive the swing frame to swing left and right; the sliding frame and the swing frame slide together with a dovetail groove structure, and the upper and lower sliding cylinders are connected between the sliding frame and the swing frame to drive the sliding frame to move up and down; the sliding frame and the lower jaw plate are hinged with a pin shaft, and the upper and lower swing cylinders are connected between the sliding frame and the lower jaw plate to drive the lower jaw plate to swing up and down; the upper jaw plate and the lower jaw plate are hinged with a pin shaft, and the clamping cylinder is connected between the upper jaw plate and the lower jaw plate to drive the upper jaw plate to clamp or open.

[0011] Furthermore, the belt lifting support mechanism includes a lifting frame, a bottom roller, a lifting side plate, a side roller and an inclination adjustment cylinder; the lifting frame is installed on the three-stage sliding plate of the left sliding and telescopic mechanism, the bottom roller is horizontally installed on the lifting platform of the lifting frame, the lifting side plate is hinged to the lifting platform on both sides of the bottom roller, the inclination adjustment cylinder is connected between the lifting side plate and the lifting platform, the side roller is installed on the lifting side plate, and the inclination adjustment cylinder drives the lifting side plate to rotate so that the bottom roller and the side rollers on both sides form a groove structure.

[0012] Furthermore, the first-level sliding plate is a hollow frame, the first-level pushing cylinder and the second-level pushing cylinder are arranged in the first-level sliding plate, the first-level pushing cylinder is in the center, the second-level pushing cylinder is located on both sides, the third-level pushing cylinder is located on both sides of the outside of the second-level sliding plate, and the third-level sliding plate is located between the two third-level pushing cylinders.

[0013] Furthermore, a supporting platform is arranged at the bottom of the posture adjustment platform, and an adjusting cylinder is connected between the supporting platform and the posture adjustment platform. The height and inclination angle of the posture adjustment platform are changed by adjusting the cylinder. A hydraulic slewing support is arranged at the bottom of the supporting platform. The direction of the posture adjustment platform is changed by the hydraulic slewing support.

[0014] Further, the lifting frame of the belt lifting support mechanism is a scissor-type structure, and the lifting frame includes a lifting top plate, an upper front articulated shaft, a fixing block, a lower front articulated shaft, a scissor-type beam, a middle articulated shaft, an upper rear articulated shaft, a push-pull cylinder and a lower rear articulated shaft;

[0015] The scissor beams on the left and right sides are rotatably connected with the middle hinge shaft as the axis, and the upper ends of the scissor beams on the left and right sides are respectively connected to the upper front hinge shaft and the upper rear hinge shaft; the lower ends of the scissor beams on the left and right sides are respectively connected to the lower front hinge shaft and the lower rear hinge shaft;

[0016] The left and right sides of the three-stage sliding plate of the sliding telescopic mechanism are provided with sliding grooves, the lower front hinge shaft is fixed on the three-stage sliding plate through a fixing block, the lower rear hinge shaft is driven by a push-pull oil cylinder to slide forward and backward in the sliding groove of the three-stage sliding plate, the upper front hinge shaft is fixed on the bottom surface of the lifting top plate through an ear plate, and the upper rear hinge shaft slides forward and backward in the sliding groove of the lifting top plate;

[0017] The bottom rollers, the lifting side plates and the inclination adjustment cylinder are connected with the lifting top plate.

[0018] Furthermore, a pipeline support frame is provided on the posture adjustment platform between the left sliding telescopic mechanism and the right sliding telescopic mechanism.

[0019] Furthermore, a camera is arranged on the top plate of the pipeline support frame.

[0020] Compared with the prior art, the advantages of the present invention are:

[0021] The present invention provides an intelligent auxiliary working platform for disassembly and assembly of rollers for belt conveyors, which adopts a modular design and is mainly composed of a multi-degree-of-freedom disassembly and assembly manipulator, a pipeline support frame, a camera, a belt lifting support mechanism, a posture adjustment platform, a left-side sliding telescopic mechanism, a hydraulic slewing support, a support platform, a right-side sliding telescopic mechanism and the like.

[0022] The attitude adjustment platform can be quickly and conveniently connected to the wheeled or belted walking equipment through the hydraulic slewing support at the bottom, so as to realize the rapid transfer operation in the coal mine. In addition, the attitude adjustment platform can be driven by the hydraulic slewing support to realize 180° rotation in the horizontal range, so as to meet the requirement of the belt conveyor being arranged left and right in the laneway and quickly change the operation direction. It not only improves the safety and reliability of the long-distance roller replacement process of the belt conveyor without stopping, but also ensures the continuity of the coal transportation process.

[0023] The multi-degree-of-freedom disassembly and assembly manipulator can effectively clamp each roller of the trough roller group respectively, and has six degrees of freedom in space, including horizontal lateral sliding, horizontal longitudinal sliding, vertical downward sliding, left and right swinging, front and back swinging, and self-clamping. According to the structural characteristics of the trough roller group of the belt conveyor, the multi-degree-of-freedom disassembly and assembly manipulator can swing 35° to the right and slide upward to complete the grabbing of the left roller, slide horizontally and downward to complete the grabbing of the middle roller, and swing to the left and slide upward 35° to complete the grabbing of the right roller. The multi-degree-of-freedom disassembly and assembly manipulator meets the disassembly and assembly requirements of the trough roller group at different placement angles and heights.

[0024] The belt lifting support mechanism has the advantages of a large lifting support range and lifting support force feedback perception. It can perform lifting operations while the belt is running, ensuring the safety of operators.

[0025] The left sliding telescopic mechanism and the right sliding telescopic mechanism are hydraulically driven, with flexible movements and compact structure, low height and wide travel range, providing a basis for the operation of multi-degree-of-freedom disassembly and assembly manipulators. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the retracted state of the intelligent auxiliary operation platform for disassembling and assembling rollers for belt conveyors;

[0027] Figure 2 This is a schematic diagram of the unfolded state of the intelligent auxiliary operation platform for disassembling and assembling rollers for belt conveyors;

[0028] Figure 3 It is a schematic diagram of a multi-degree-of-freedom disassembly and assembly robot;

[0029] Figure 4 This is a schematic diagram of a multi-degree-of-freedom disassembly and assembly robot gripping a roller;

[0030] Figure 5 is a schematic diagram of a belt lifting support mechanism;

[0031] Figure 6 is a schematic diagram of the left sliding telescopic mechanism;

[0032] Figure 7 It is a schematic diagram of the sliding telescopic mechanism on the right side.

[0033] In the figure: 1-multi-degree-of-freedom disassembly and assembly manipulator; 101-sliding base; 102-left and right swing cylinder; 103-sliding frame; 104-upper and lower swing cylinder; 105-upper jaw plate; 106-lower jaw plate; 107-clamping cylinder; 108-swinging frame; 109-upper and lower sliding cylinder; 110-longitudinal sliding frame; 111-multiplication adjustment cylinder; 112-longitudinal push cylinder; 113-transmission chain;

[0034] 2-Pipeline support frame; 3-Camera;

[0035] 4-belt lifting support mechanism; 401-side roller; 402-bottom roller; 403-lifting top plate; 404-lifting side plate; 405-cage; 406-tilt adjustment cylinder; 407-upper front articulated shaft; 408-fixed block; 409-lower front articulated shaft; 410-scissor beam; 411-middle articulated shaft; 412-upper rear articulated shaft; 413-lower rear articulated shaft; 414-push-pull cylinder;

[0036] 5-posture adjustment platform; 6-adjustment cylinder; 7-left sliding telescopic mechanism; 8-hydraulic slewing support; 9-support platform; 10-right sliding telescopic mechanism; 11-first sliding plate; 12-second sliding plate; 13-third sliding plate; 14-first pushing cylinder; 15-second pushing cylinder; 16-third pushing cylinder. DETAILED DESCRIPTION

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] like Figure 1 , Figure 2As shown: an intelligent auxiliary work platform for disassembly and assembly of rollers for belt conveyors, including a posture adjustment platform 5 with adjustable direction, inclination and height; the posture adjustment platform 5 is equipped with two sets of sliding telescopic mechanisms with the same telescopic direction, namely a left sliding telescopic mechanism 7 and a right sliding telescopic mechanism 10; the action terminal of the left sliding telescopic mechanism 7 is equipped with a belt lifting support mechanism 4, and the action terminal of the right sliding telescopic mechanism 10 is equipped with a multi-degree-of-freedom disassembly and assembly manipulator 1; the belt lifting support mechanism 4 is used to support and lift the belt of the belt conveyor to a certain height to form an operation space for disassembly and assembly of rollers; the multi-degree-of-freedom disassembly and assembly manipulator 1 is used to grab the target rollers.

[0039] A supporting platform 9 is arranged at the bottom of the posture adjustment platform 5, and an adjusting cylinder 6 is connected between the supporting platform 9 and the posture adjustment platform 5. The height and inclination angle of the posture adjustment platform 5 can be changed by adjusting the cylinder 6. A hydraulic slewing support 8 is arranged at the bottom of the supporting platform 9. The direction of the posture adjustment platform 5 can be changed by the hydraulic slewing support 8.

[0040] A pipeline support frame 2 is provided on the posture adjustment platform 5 between the left sliding telescopic mechanism 7 and the right sliding telescopic mechanism 10. A camera 3 is arranged on the top plate of the pipeline support frame 2.

[0041] The intelligent auxiliary operation platform for roller disassembly and assembly can be quickly and conveniently connected to and mounted on wheeled or belt-type walking equipment through the hydraulic slewing support 8 at the bottom, so as to realize rapid transfer operations underground in coal mines. In addition, the intelligent auxiliary operation platform for roller disassembly and assembly can be driven by the hydraulic slewing support 8 to realize 180° rotation within the horizontal range, so as to meet the requirement of rapid change of operation direction when the belt conveyor is arranged left and right in the lane.

[0042] The intelligent auxiliary operation platform for roller disassembly and assembly is suitable for long-distance inspection and roller disassembly and replacement of belt conveyors in coal mines. The operator moves the intelligent auxiliary operation platform for roller disassembly and assembly to the designated position near the faulty roller on the belt conveyor side. First, the operator controls the adjustment cylinder 6 to keep the surface of the posture adjustment platform 5 parallel to the upper surface of the H frame of the belt conveyor; then controls the left sliding telescopic mechanism 7 to drive the belt lifting support mechanism 4 to slide to the belt centerline position, and lifts the belt to a certain height to form an effective working space; secondly, controls the right sliding telescopic mechanism 10 to drive the multi-degree-of-freedom disassembly and assembly manipulator 1 to slide to the faulty roller attachment, grabs and removes the faulty roller, and then retracts the three-level telescopic mechanism of the right sliding telescopic mechanism 10; finally, manually replace the faulty roller with a new roller and repeat the above actions to complete the operation. The operation process is completed by remote remote control under the visual guidance of the camera 3. The intelligent auxiliary operation platform for roller disassembly and assembly not only improves the safety and reliability of the long-distance roller replacement process of the belt conveyor without stopping, but also ensures the continuity of the coal transportation process.

[0043] like Figure 6 , Figure 7 As shown in the figure: the sliding telescopic mechanism includes a primary sliding plate 11, a secondary sliding plate 12, a tertiary sliding plate 13, a primary push cylinder 14, a secondary push cylinder 15 and a tertiary push cylinder 16; a dovetail groove sliding structure is formed between the primary sliding plate 11 and the posture adjustment platform 5, between the secondary sliding plate 12 and the primary sliding plate 11, and between the tertiary sliding plate 13 and the secondary sliding plate 12; the primary push cylinder 14 is connected between the posture adjustment platform 5 and the primary sliding plate 11 to adjust the posture The state adjustment platform 5 is the base, and the first-level sliding plate 11 is driven to slide by the first-level pushing cylinder 14; the second-level pushing cylinder 15 is connected between the second-level sliding plate 12 and the first-level sliding plate 11, and the first-level sliding plate 11 is used as the base, and the second-level sliding plate 12 is driven to slide by the second-level pushing cylinder 15; the third-level pushing cylinder 16 is connected between the third-level sliding plate 13 and the second-level sliding plate 12, and the second-level sliding plate 12 is used as the base, and the third-level pushing cylinder 16 drives the third-level sliding plate 13 to slide.

[0044] The first-stage sliding plate 11 is a hollow frame, and the first-stage push cylinder 14 and the second-stage push cylinder 15 are arranged in the first-stage sliding plate 11, the first-stage push cylinder 14 is in the center, the second-stage push cylinder 15 is located on both sides, the third-stage push cylinder 16 is located on both sides of the outside of the second-stage sliding plate 12, and the third-stage sliding plate 13 is located between the two third-stage push cylinders 16. The sliding telescopic mechanism adopts hydraulic drive, has flexible movement and compact structure, low height and wide travel range, and the right sliding telescopic mechanism 10 provides a basis for the operation of the multi-degree-of-freedom disassembly and assembly manipulator 1.

[0045] like Figure 3 As shown: the multi-degree-of-freedom disassembly and assembly robot 1 includes six spatial degrees of freedom, namely, horizontal lateral sliding, horizontal longitudinal sliding, left and right swinging, vertical downward sliding, front and back swinging, and self-clamping, which are superimposed on each other.

[0046] like Figure 3 , Figure 7 As shown: the multi-degree-of-freedom disassembly and assembly robot 1 includes a longitudinal sliding frame 110, a multiplication adjustment cylinder 111, a sliding base 101, a swing frame 108, a sliding frame 103, an upper jaw plate 105 and a lower jaw plate 106;

[0047] The longitudinal sliding frame 110 is slidably assembled on the three-stage sliding plate 13 of the right sliding telescopic mechanism 10. The longitudinal sliding frame 110 and the three-stage sliding plate 13 are connected to the longitudinal push cylinder 112. The sliding direction of the longitudinal sliding frame 110 is perpendicular to the sliding direction of the three-stage sliding plate 13. The sliding base 101 adopts a slot structure to slide with the longitudinal sliding frame 110. The two ends of the cylinder rod of the multiplication and deviation adjustment cylinder 111 are connected to the longitudinal sliding frame 110. The two nodes of the transmission chain 113 on the cylinder barrel of the multiplication and deviation adjustment cylinder 111 are respectively connected A sliding base 101 and a longitudinal sliding frame 110, the sliding direction of the sliding base 101 is perpendicular to the sliding direction of the longitudinal sliding frame 110; the sliding base 101 is driven jointly by the multiplying and adjusting cylinder 111 and the transmission chain 113 to realize the lateral sliding of the manipulator, the cylinder rod of the multiplying and adjusting cylinder 111 is fixed, the cylinder barrel slides on the cylinder rod, sprockets are provided at both ends of the cylinder barrel, and the transmission chain 113 is connected to the sprockets at both ends; the combined structure of the multiplying and adjusting cylinder 111 and the transmission chain 113 is the existing technology, and no structural changes are made in this embodiment.

[0048] The multi-degree-of-freedom disassembly and assembly robot 1 can be moved to an approximate position near the faulty roller by extending and retracting the sliding plates of the right-side sliding and retracting mechanism 10, and the longitudinal sliding frame 110 is driven by the longitudinal push cylinder 112 to move forward and backward, so that the front and rear position of the robot can be determined; through the joint action of the multiplier adjustment cylinder 111 and the transmission chain 113, the sliding base 101 of the multi-degree-of-freedom disassembly and assembly robot 1 is driven to move left and right, so that the left and right position of the robot can be determined, and the precise working position of the multi-degree-of-freedom disassembly and assembly robot 1 can be adjusted.

[0049] The swing frame 108 is installed offset relative to the sliding base 101 and is hinged with a pin shaft. The left and right swing cylinders 102 are connected between the swing frame 108 and the sliding base 101 to drive the swing frame 108 to swing left and right; the sliding frame 103 and the swing frame 108 are slidably matched with each other using a dovetail groove structure. The upper and lower sliding cylinders 109 are connected between the sliding frame 103 and the swing frame 108 to drive the sliding frame 103 to move up and down; the sliding frame 103 and the lower jaw plate 106 are hinged with a pin shaft. The upper and lower swing cylinders 104 are connected between the sliding frame 103 and the lower jaw plate 106 to drive the lower jaw plate 106 to swing up and down; the upper jaw plate 105 and the lower jaw plate 106 are hinged with a pin shaft. The clamping cylinder 107 is connected between the upper jaw plate 105 and the lower jaw plate 106 to drive the upper jaw plate 105 to clamp or open.

[0050] like Figure 4As shown: The multi-degree-of-freedom disassembly and assembly robot 1 can effectively clamp each roller of the trough roller group. According to the structural characteristics of the trough roller group of the belt conveyor, the multi-degree-of-freedom disassembly and assembly robot 1 can swing 35° to the right and slide upward to complete the grabbing of the left roller, slide horizontally and downward to complete the grabbing of the middle roller, and swing to the left and slide upward 35° to complete the grabbing of the right roller. The multi-degree-of-freedom disassembly and assembly robot 1 meets the disassembly and assembly requirements of the trough roller group at different placement angles and heights. During the operation, the first clamping and recovery of the faulty roller requires manual remote control operation, while the second clamping of the faulty roller can be automatically completed according to the path memory function, which greatly improves the operation efficiency.

[0051] like Figure 5 As shown: before the multi-degree-of-freedom disassembly and assembly manipulator 1 operates, the belt conveyor belt needs to be supported and lifted to a certain height by the belt lifting support mechanism 4 to form an effective working space. The belt lifting support mechanism 4 includes a lifting frame, a bottom roller 402, a lifting side plate 404, a side roller 401 and an inclination adjustment cylinder 406; the lifting frame is installed on the three-stage sliding plate 13 of the left sliding telescopic mechanism 7, the bottom roller 402 is horizontally installed on the lifting platform of the lifting frame, the lifting side plate 404 is hinged to the lifting platform on both sides of the bottom roller 402, the inclination adjustment cylinder 406 is connected between the lifting side plate 404 and the lifting platform, the side roller 401 is installed on the lifting side plate 404, and the inclination adjustment cylinder 406 drives the lifting side plate 404 to rotate so that the bottom roller 402 and the side rollers 401 on both sides form a groove structure.

[0052] According to the running cross-sectional shape of the belt conveyor, the lifting side plate 404 needs to be driven to swing to a suitable angle through the inclination adjustment cylinders 406 on the left and right sides, so that the bottom roller 402 and the left and right side rollers 401 form a groove structure, and the clamping plate 405 is used to fix the rollers. This mechanism has the advantages of a large lifting support range and feedback perception of lifting support force. It can perform lifting operations when the belt is running, ensuring the safety of operators.

[0053] The lifting frame of the belt lifting support mechanism 4 is a scissor-type structure, and the overall lifting of the lifting platform is completed by driving the bottom push-pull cylinder 414. The lifting frame includes a lifting top plate 403, an upper front hinge shaft 407, a fixing block 408, a lower front hinge shaft 409, a scissor beam 410, a middle hinge shaft 411, an upper rear hinge shaft 412, a push-pull cylinder 414 and a lower rear hinge shaft 413;

[0054] The scissor beams 410 on the left and right sides are rotatably connected with the middle hinge shaft 411 as the axis, and the upper ends of the scissor beams 410 on the left and right sides are respectively connected to the upper front hinge shaft 407 and the upper rear hinge shaft 412; the lower ends of the scissor beams 410 on the left and right sides are respectively connected to the lower front hinge shaft 409 and the lower rear hinge shaft 413;

[0055] Sliding grooves are arranged on the left and right sides of the three-stage sliding plate 13 of the left sliding telescopic mechanism 7. The lower front hinge shaft 409 is fixed to the three-stage sliding plate 13 by a fixing block 408. The lower rear hinge shaft 413 is driven by a push-pull cylinder 414 to slide back and forth in the sliding groove of the three-stage sliding plate 13. The upper front hinge shaft 407 is fixed to the bottom surface of the lifting top plate 403 by an ear plate. The upper rear hinge shaft 412 slides back and forth in the sliding groove of the lifting top plate 403. The bottom roller 402, the lifting side plate 404 and the inclination adjustment cylinder 406 are connected to the lifting top plate 403.

[0056] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent auxiliary operation platform for disassembly and assembly of rollers for belt conveyors, characterized in that: The invention comprises a posture adjustment platform (5) with adjustable direction, inclination and height; the posture adjustment platform (5) is equipped with two sets of sliding telescopic mechanisms with the same telescopic direction, namely a left sliding telescopic mechanism (7) and a right sliding telescopic mechanism (10); the action terminal of the left sliding telescopic mechanism (7) is equipped with a belt lifting support mechanism (4), and the action terminal of the right sliding telescopic mechanism (10) is equipped with a multi-degree-of-freedom disassembly and assembly manipulator (1); the belt lifting support mechanism (4) is used to support and lift the belt of the belt conveyor to a certain height, so as to form an operation space for disassembling and assembling rollers; The multi-degree-of-freedom disassembly and assembly manipulator (1) is used for grabbing the target roller.

2. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to claim 1 is characterized in that: The sliding telescopic mechanism comprises a primary sliding plate (11), a secondary sliding plate (12), a tertiary sliding plate (13), a primary push oil cylinder (14), a secondary push oil cylinder (15) and a tertiary push oil cylinder (16); a dovetail groove sliding structure is formed between the primary sliding plate (11) and the posture adjustment platform (5), between the secondary sliding plate (12) and the primary sliding plate (11), and between the tertiary sliding plate (13) and the secondary sliding plate (12); the primary push oil cylinder (14) is connected between the posture adjustment platform (5) and the primary sliding plate (11) to adjust the posture The state adjustment platform (5) is used as a base, and the first sliding plate (11) is driven to slide by the first pushing oil cylinder (14); the second sliding plate (12) is connected to the first sliding plate (11) by the second pushing oil cylinder (15), and the first sliding plate (11) is used as a base, and the second sliding plate (12) is driven to slide by the second pushing oil cylinder (15); the third sliding plate (13) is connected to the second sliding plate (12) by the third pushing oil cylinder (16), and the second sliding plate (12) is used as a base, and the third sliding plate (13) is driven to slide by the third pushing oil cylinder (16).

3. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to claim 2 is characterized in that: The multi-degree-of-freedom disassembly and assembly robot (1) comprises six spatial degrees of freedom, namely, horizontal lateral sliding, horizontal longitudinal sliding, left-right swinging, vertical downward sliding, front-back swinging and self-clamping, which are stacked in stages.

4. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to claim 3 is characterized by: The multi-degree-of-freedom disassembly and assembly robot (1) comprises a longitudinal sliding frame (110), a multiplication and deviation adjustment cylinder (111), a sliding base (101), a swing frame (108), a sliding frame (103), an upper jaw plate (105) and a lower jaw plate (106); The longitudinal sliding frame (110) is slidably mounted on the three-stage sliding plate (13) of the right sliding telescopic mechanism (10); a longitudinal push cylinder (112) is connected between the longitudinal sliding frame (110) and the three-stage sliding plate (13); the sliding direction of the longitudinal sliding frame (110) is perpendicular to the sliding direction of the three-stage sliding plate (13); the sliding base (101) adopts a slot structure to slide with the longitudinal sliding frame (110); both ends of the cylinder rod of the multiplying and deflecting adjusting cylinder (111) are connected to the longitudinal sliding frame (110); two nodes of the transmission chain (113) on the cylinder barrel of the multiplying and deflecting adjusting cylinder (111) are respectively connected to the sliding base (101) and the longitudinal sliding frame (110); the sliding direction of the sliding base (101) is perpendicular to the sliding direction of the longitudinal sliding frame (110); The swing frame (108) is offsetly installed relative to the sliding base (101) and is hinged with a pin shaft. A left and right swing oil cylinder (102) is connected between the swing frame (108) and the sliding base (101) to drive the swing frame (108) to swing left and right. The sliding frame (103) and the swing frame (108) are slidably matched with each other using a dovetail groove structure. An up and down sliding oil cylinder (109) is connected between the sliding frame (103) and the swing frame (108) to drive the sliding frame (103). 03) moves up and down; the sliding frame (103) and the lower jaw plate (106) are hinged by a pin shaft, and an up and down swinging oil cylinder (104) is connected between the sliding frame (103) and the lower jaw plate (106) to drive the lower jaw plate (106) to swing up and down; the upper jaw plate (105) and the lower jaw plate (106) are hinged by a pin shaft, and a clamping oil cylinder (107) is connected between the upper jaw plate (105) and the lower jaw plate (106) to drive the upper jaw plate (105) to clamp or open.

5. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to claim 2 is characterized in that: The belt lifting support mechanism (4) comprises a lifting frame, a bottom supporting roller (402), a lifting side plate (404), a side supporting roller (401) and an inclination adjustment cylinder (406); the lifting frame is installed on the three-stage sliding plate (13) of the left sliding telescopic mechanism (7); the bottom supporting roller (402) is horizontally installed on the lifting platform of the lifting frame; the lifting side plate (404) is hinged to the lifting platform on both sides of the bottom supporting roller (402); the inclination adjustment cylinder (406) is connected between the lifting side plate (404) and the lifting platform; the side supporting roller (401) is installed on the lifting side plate (404); the inclination adjustment cylinder (406) drives the lifting side plate (404) to rotate so that the bottom supporting roller (402) and the side supporting rollers (401) on both sides form a groove structure.

6. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to claim 2, characterized in that: The first-stage sliding plate (11) is a hollow frame. The first-stage pushing cylinder (14) and the second-stage pushing cylinder (15) are arranged inside the first-stage sliding plate (11), the first-stage pushing cylinder (14) is in the center, the second-stage pushing cylinder (15) is located on both sides, the third-stage pushing cylinder (16) is located on both sides of the outside of the second-stage sliding plate (12), and the third-stage sliding plate (13) is located between the two third-stage pushing cylinders (16).

7. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to any one of claims 1 to 6, characterized in that: A support platform (9) is arranged at the bottom of the posture adjustment platform (5); an adjustment cylinder (6) is connected between the support platform (9) and the posture adjustment platform (5); the height and inclination angle of the posture adjustment platform (5) are changed by adjusting the cylinder (6); a hydraulic slewing support (8) is arranged at the bottom of the support platform (9); the direction of the posture adjustment platform (5) is changed by the hydraulic slewing support (8).

8. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to claim 5, characterized in that: The lifting frame of the belt lifting support mechanism (4) is a scissor-type structure, and the lifting frame includes a lifting top plate (403), an upper front hinge shaft (407), a fixing block (408), a lower front hinge shaft (409), a scissor-type beam (410), a middle hinge shaft (411), an upper rear hinge shaft (412), a push-pull cylinder (414) and a lower rear hinge shaft (413); The scissor beams (410) on the left and right sides are rotatably connected with the middle hinge shaft (411) as the axis, and the upper ends of the scissor beams (410) on the left and right sides are respectively connected to the upper front hinge shaft (407) and the upper rear hinge shaft (412); the lower ends of the scissor beams (410) on the left and right sides are respectively connected to the lower front hinge shaft (409) and the lower rear hinge shaft (413); Sliding grooves are arranged on the left and right sides of the three-stage sliding plate (13) of the left sliding telescopic mechanism (7); the lower front hinge shaft (409) is fixed to the three-stage sliding plate (13) through a fixing block (408); the lower rear hinge shaft (413) is driven by a push-pull oil cylinder (414) to slide forward and backward in the sliding groove of the three-stage sliding plate (13); the upper front hinge shaft (407) is fixed to the bottom surface of the lifting top plate (403) through an ear plate; and the upper rear hinge shaft (412) slides forward and backward in the sliding groove of the lifting top plate (403); The bottom roller (402), the lifting side plate (404) and the inclination adjustment cylinder (406) are connected to the lifting top plate (403).

9. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to claim 1, characterized in that: A pipeline support frame (2) is provided on the posture adjustment platform (5) between the left sliding telescopic mechanism (7) and the right sliding telescopic mechanism (10).

10. The intelligent auxiliary work platform for disassembly and assembly of belt conveyor rollers according to claim 9, characterized in that: A camera (3) is arranged on the top plate of the pipeline support frame (2).

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