A disassembly and assembly robot for mine equipment maintenance

Abstract

The invention relates to a disassembly and assembly robot for mine equipment maintenance, belonging to the technical field of equipment disassembly and assembly; the robot comprises a forklift, a lifting arm is hinged on the forklift, a telescopic arm is slidably arranged inside the lifting arm, a connecting platform is rotatably arranged at the end of the telescopic arm through an angle adjustment mechanism, and the angle of the connecting platform is adjusted through the angle adjustment mechanism; a rotating box is slidably arranged on the connecting platform through a lifting mechanism, and the lifting and lowering of the rotating box is controlled by the lifting mechanism; a clamping mechanism is rotatably arranged on the rotating box through a slewing mechanism, and the clamping mechanism is controlled to rotate as a whole through the slewing mechanism; the clamping mechanism comprises two clamping arms, and a hoisting mechanism is arranged at the lower end of each clamping arm; the current problems of low disassembly and assembly efficiency and great safety hazards of mine equipment are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of equipment disassembly and assembly, and in particular relates to a disassembly and assembly robot used for mine equipment maintenance. Background Art

[0002] Mining equipment is generally heavy machinery, often working in harsh environments such as open-pit mines, and is often subjected to large impact forces when working. Due to the uneven roads in mines, it is in a state of bumpy vibration most of the time, and the load is often in a state of large changes. In order to reduce safety hazards, it is necessary to frequently disassemble, repair and clean the mining equipment; currently in equipment maintenance work, there is no dedicated automated equipment that can disassemble and assemble the assembly parts of mining equipment (such as front suspension cylinders, rear suspension cylinders and lifting cylinders, etc.) under the premise of limited space. Most of them are disassembled and assembled by first disassembling and assembling the tires and then the suspension cylinders. The process is relatively cumbersome, time-consuming and labor-intensive, and there are great safety hazards; therefore, improvements need to be made based on the above problems. Summary of the invention

[0003] The present invention overcomes the shortcomings of the prior art and provides a disassembly and assembly robot for mine equipment maintenance, thereby solving the current problems of low disassembly and assembly efficiency and great safety hazards in mine equipment.

[0004] In order to achieve the above object, the present invention is implemented through the following technical solutions.

[0005] A disassembly and assembly robot for maintenance of mining equipment comprises a forklift, a lifting arm is hinged on the forklift, a telescopic arm is slidably arranged inside the lifting arm, a connecting platform is rotatably arranged at the end of the telescopic arm through an angle adjustment mechanism, and the angle of the connecting platform is adjusted through the angle adjustment mechanism; a rotating box is slidably arranged on the connecting platform through a lifting mechanism, and the lifting and lowering of the rotating box is controlled by the lifting mechanism; a clamping mechanism is rotatably arranged on the rotating box through a slewing mechanism, and the clamping mechanism is controlled to slew as a whole through the slewing mechanism; the clamping mechanism comprises two clamping arms, and a hoisting mechanism is arranged at the lower end of each clamping arm;

[0006] The angle adjustment mechanism includes a mounting seat, a rotating block, a positioning plate, a fixed plate, a positioning hydraulic cylinder, and a positioning rod; a mounting seat is fixedly provided at the end of the telescopic arm, and a U-shaped mounting groove is provided inside the mounting seat; the connecting platform is located at the front side of the mounting seat. A rotating block is fixedly provided on the rear end face of the connecting platform, and the rotating block is rotatably provided at the U-shaped opening of the mounting groove; a U-shaped positioning plate is fixedly provided on the rear side of the rotating block, and a positioning rod is slidably inserted inside the positioning plate; a fixed plate is fixedly provided inside the mounting groove of the mounting seat, and two positioning hydraulic cylinders are fixedly provided on the fixed plate, and one end of the cylinder bottom of the two positioning hydraulic cylinders is fixedly connected to the fixed plate, and one end of the piston rod of the two positioning hydraulic cylinders is respectively hinged to the two ends of the positioning rod;

[0007] The lifting mechanism comprises a lifting box, a lifting cylinder, a lifting plate, and a movable fixed block; the lifting box is fixedly arranged at the front end surface of the connecting platform; two lifting cylinders are fixedly arranged on the lower end surface of the lifting box, and the piston rods of the lifting cylinders extend into the interior of the lifting box; the same lifting plate is fixedly arranged at the ends of the piston rods of the two lifting cylinders; two vertical first slide grooves are arranged on the front side wall of the lifting box, and a movable fixed block is slidably arranged in each first slide groove; the inner ends of the two movable fixed blocks are fixedly arranged on the lifting plate, and the outer ends of the two movable fixed blocks are fixedly connected to the rear end surface of the rotating box;

[0008] The rotary mechanism includes a rotary support, a worm wheel, a worm, and a first motor; a circular rotary support is rotatably arranged inside the rotating box through a bearing, a flange is fixedly arranged at the front end of the rotary support, and is connected to the clamping mechanism through the flange; four circular array worm wheels are rotatably arranged on the rear inner wall of the rotating box, and the four worm wheels are all meshed with the rotary support; four first motors are also fixedly arranged on the rear inner wall of the rotating box, and a worm is fixedly arranged on the output shaft of each first motor, and the four worms are respectively meshed with four worm wheels.

[0009] Furthermore, the lower end of the lifting arm is hinged to the upper end surface of the forklift; a connecting plate is fixedly arranged on the left and right sides of the middle part of the outer side surface of the lifting arm, and a lifting hydraulic cylinder is hinged on each connecting plate, one end of the cylinder bottom of the lifting hydraulic cylinder is hinged to the upper end surface of the forklift, and one end of the piston rod of the lifting hydraulic cylinder is hinged to the connecting plate.

[0010] Furthermore, a fixing mechanism is also provided inside the connecting platform, through which the lifting box and the connecting platform are fixedly connected; the fixing mechanism includes a guide rail, a two-way screw rod, a hexagon socket bolt, a moving block, and a moving connecting seat; two upper and lower horizontal fixing grooves are provided on the front end surface of the connecting platform, and a guide rail is fixedly provided inside each fixing groove; a two-way screw rod is rotatably provided inside the guide rail, one end of the two-way screw rod extends to the outside of the connecting platform, and a hexagon socket bolt is fixedly provided on the end of the two-way screw rod extending to the outside of the connecting platform; a moving block is respectively screwed on two external threaded sections of opposite rotation directions on the outside of the two-way screw rod, and the moving block is slidably engaged with the guide rail; a moving connecting seat is fixedly provided at one end of the outer side of the moving block by bolts, and the same screw rod is inserted between the two moving connecting seats, and a locking nut is respectively screwed on both ends of the screw rod, and the locking nut is in contact with the moving connecting seat; two upper and lower fixing holes are provided on the lifting box; the upper and lower screws are respectively inserted into the two fixing holes of the lifting box.

[0011] Furthermore, the clamping mechanism also includes a swing seat, a swing arm, a second motor, a driving gear, a driven gear, and a mechanical claw; a swing seat is fixedly arranged at the front end of the flange; an articulated seat is fixedly arranged on the front end surface of the swing seat; a swing arm is fixedly arranged at the rear end of each clamping arm, and the two swing arms are rotatably arranged inside the articulated seat; a driving gear is fixedly arranged on the upper end of the rotating shaft of one of the swing arms, and a driven gear is fixedly arranged on the upper end of the rotating shaft of the other swing arm, and the driving gear is meshed with the driven gear; a second motor is also fixedly arranged on the front end surface of the swing seat, and the output shaft of the second motor is fixedly connected to the driving gear; a mechanical claw is fixedly arranged at the front end of the two clamping arms, a clamping plate is fixedly arranged on the inner side surface of the two mechanical claws, and two front and rear rubber plates are fixedly arranged on the inner side surface of the clamping plate.

[0012] Furthermore, the clamping arm includes a first mechanical arm, a second mechanical arm, a threaded rod, and a third motor; the first mechanical arm is a square cylindrical structure with an open front end, the second mechanical arm is slidably inserted into the front end opening of the first mechanical arm, the rear end of the first mechanical arm is fixedly connected to the swing arm, and the front end of the second mechanical arm is fixedly provided with the mechanical claw; the third motor is fixedly provided at one end of the inner side of the first mechanical arm, and a threaded rod is fixedly provided on the output shaft of the third motor, the threaded rod is screwed into the second mechanical arm, and the outer side surface of the second mechanical arm is in sliding contact with the inner side surface of the first mechanical arm.

[0013] Furthermore, the lifting mechanism includes a hook connecting seat, a fourth motor, a cable, and an eye hook; the hook connecting seat is fixedly arranged on the lower side of the front end of the clamping arm, a winding roller is rotatably arranged inside the hook connecting seat, and the fourth motor is fixedly arranged on the outer side of the hook connecting seat; one end of the winding roller is fixedly connected to the output shaft of the fourth motor, and a ratchet is fixedly arranged on one end of the winding roller; a cable is fixedly wound on the outer side of the winding roller, and an eye hook is fixedly arranged on the end of the cable.

[0014] Furthermore, the lifting mechanism also includes a pawl, a rotating shaft, a limit block, a spring, and a fifth motor; the fifth motor is fixedly arranged on the outer side of the hook connecting seat, and the rotating shaft is fixedly arranged on the output shaft of the fifth motor, and the end of the rotating shaft away from the fifth motor is rotatably connected to the outer side surface of the hook connecting seat; a pawl is rotatably sleeved on the outer side of the rotating shaft, and the pawl cooperates with the ratchet; a deflection groove is arranged on the side of the pawl, and a limit block is fixedly arranged on the outer wall of the rotating shaft, and the limit block extends into the deflection groove; a spring is arranged inside the deflection groove, one end of the spring is connected to the inner wall of the deflection groove, and the other end of the spring is connected to the limit block.

[0015] The beneficial effects of the present invention compared with the prior art are as follows:

[0016] 1. The present invention facilitates the adjustment of the deflection angle of the connecting platform according to the lifting and lowering of the lifting arm through the cooperation of the positioning hydraulic cylinder and the rotating block, thereby ensuring that the connecting platform is in a horizontal state, thereby avoiding the influence of the subsequent clamping effect caused by the inclination of the connecting platform; through the cooperation of the two-way screw rod and the movable connecting seat, it is convenient to connect different lifting boxes, avoiding the lifting boxes from being unable to be installed due to the different widths of the lifting boxes, thereby improving the installation efficiency; through the cooperation of the rotating box and the lifting box, it is convenient to adjust the rotation angle of the subsequent clamping mechanism, thereby improving the clamping effect.

[0017] 2. The present invention facilitates the control of the limiting position of the pawl on the ratchet wheel through the cooperation of the limiting rod and the spring, thereby improving the lifting effect and connection efficiency of the eye hook; through the cooperation of the rubber plate and the splint, it is convenient to better clamp the parts and improve the disassembly efficiency and disassembly effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described in detail below in conjunction with the accompanying drawings:

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the present invention without the forklift, lifting arm and telescopic arm;

[0021] Figure 3 is a schematic diagram of the connection between the angle adjustment mechanism and the connection platform;

[0022] Figure 4 It is a structural diagram of the fixing mechanism;

[0023] Figure 5 It is a schematic diagram of the connection between the lifting mechanism, the connecting platform and the lifting box;

[0024] Figure 6 It is a structural diagram of the lifting mechanism;

[0025] Figure 7 It is a schematic diagram of the connection between the lifting mechanism, the rotating mechanism, the clamping mechanism, and the hoisting mechanism;

[0026] Figure 8 This is the structural diagram of the rotary mechanism. Figure 1 ;

[0027] Fig. 9 This is the structural diagram of the rotary mechanism. Figure 2 ;

[0028] Fig.10 It is a schematic diagram of the connection between the clamping arm and the lifting mechanism;

[0029] Fig.11 It is a schematic diagram of the structure inside the clamping arm;

[0030] Fig.12 It is a schematic diagram of the structure of the mechanical claw;

[0031] Fig.13 It is a structural diagram of the lifting mechanism;

[0032] Fig.14 It is a schematic diagram of the coordination between the ratchet and the pawl;

[0033] Fig.15 yes Fig.14 A local enlarged schematic diagram of the middle A;

[0034] Among them, 1 is a forklift, 2 is a lifting arm, 3 is a connecting plate, 4 is a lifting hydraulic cylinder, 5 is a telescopic arm, 6 is a mounting seat, 7 is a rotating block, 8 is a positioning plate, 9 is a fixed plate, 10 is a positioning hydraulic cylinder, 11 is a positioning rod, 12 is a connecting platform, 13 is a guide rail, 14 is a two-way screw rod, 15 is a moving block, 16 is a hexagon socket bolt, 17 is a moving connecting seat, 18 is a lifting box, 19 is a lifting cylinder, 20 is a lifting plate, 21 is a moving fixed block, 22 is a rotating box, 23 is a slewing support, 24 is a worm gear, 25 is a worm, 26 is a first motor, 27 is a swing seat, 28 is a swing arm, 29 is a driven gear, 30 is a driving gear, 31 is a second motor, 32 is a first mechanical arm, 33 is a second mechanical arm, 34 is a threaded rod, 35 is a third motor, 36 is a mechanical claw, 37 is a splint, 38 is a rubber plate, 39 is a hook connecting seat, 40 is a fourth motor, 41 is a cable, 42 is an eye hook, 43 is a ratchet, 44 is a ratchet, 45 is a rotating shaft, 46 is a limit block, 47 is a spring, and 48 is a fifth motor. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention is further described in detail in conjunction with the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The technical solutions of the present invention are described in detail below in conjunction with the embodiments and the accompanying drawings, but the scope of protection is not limited thereto.

[0036] like Figure 1 As shown in FIG. 15 , the present invention provides a disassembly and assembly robot for maintenance of mining equipment, comprising a forklift 1, on which a lifting arm 2 is hinged, a telescopic arm 5 is slidably arranged inside the lifting arm 2, a connecting platform 12 is rotatably arranged at the end of the telescopic arm 5 by an angle adjustment mechanism, and the angle of the connecting platform 12 is adjusted by the angle adjustment mechanism; a rotating box 22 is slidably arranged on the connecting platform 12 by a lifting mechanism, and the lifting and lowering of the rotating box 22 is controlled by the lifting mechanism; a clamping mechanism is rotatably arranged on the rotating box 22 by a slewing mechanism, and the rotation of the clamping mechanism as a whole is controlled by the slewing mechanism; the clamping mechanism comprises two clamping arms, and a hoisting mechanism is arranged at the lower end of each clamping arm.

[0037] The lower end of the lifting arm 2 is hinged to the upper end surface of the forklift 1. A connecting plate 3 is fixedly arranged on the left and right sides of the middle of the outer side surface of the lifting arm 2, and a lifting hydraulic cylinder 4 is hinged to each connecting plate 3. One end of the cylinder bottom of the lifting hydraulic cylinder 4 is hinged to the upper end surface of the forklift 1, and one end of the piston rod of the lifting hydraulic cylinder 4 is hinged to the connecting plate 3.

[0038] The angle adjustment mechanism includes a mounting seat 6 , a rotating block 7 , a positioning plate 8 , a fixing plate 9 , a positioning hydraulic cylinder 10 , and a positioning rod 11 .

[0039] A mounting seat 6 is fixedly provided at the end of the telescopic arm 5, and a U-shaped mounting groove is provided inside the mounting seat 6. The connecting platform 12 is a cubic structure, and the connecting platform 12 is located at the front side of the mounting seat 6. A rotating block 7 is fixedly provided on the rear end face of the connecting platform 12, and the rotating block 7 is rotatably provided at the U-shaped opening of the mounting groove. A U-shaped positioning plate 8 is fixedly provided on the rear side of the rotating block 7, and a positioning rod 11 is slidably inserted inside the positioning plate 8, and the axis of the positioning rod 11 remains parallel to the rotation axis of the rotating block 7. A fixed plate 9 is fixedly provided inside the mounting groove of the mounting seat 6, and two positioning hydraulic cylinders 10 are fixedly provided on the fixed plate 9, and one end of the cylinder bottom of the two positioning hydraulic cylinders 10 is fixedly connected to the fixed plate 9, and one end of the piston rod of the two positioning hydraulic cylinders 10 is hinged to the two ends of the positioning rod 11 respectively.

[0040] When the piston rods of the two positioning hydraulic cylinders 10 are synchronously extended and retracted, the positioning rod 11 is driven to slide inside the positioning plate 8, thereby driving the rotating block 7 to rotate inside the mounting seat 6, and the rotating block 7 drives the connecting platform 12 to rotate, thereby adjusting the angle of the connecting platform 12.

[0041] The lifting mechanism includes a lifting box 18 , a lifting cylinder 19 , a lifting plate 20 , and a movable fixed block 21 .

[0042] The lifting box 18 is a square box structure, and the lifting box 18 is fixedly arranged at the front end surface of the connecting platform 12. Two lifting cylinders 19 are fixedly arranged on the lower end surface of the lifting box 18, and the cylinder bodies of the lifting cylinders 19 are fixedly arranged at the lower end surface of the lifting box 18, and the piston rods of the lifting cylinders 19 extend into the interior of the lifting box 18. The same lifting plate 20 is fixedly arranged at the ends of the piston rods of the two lifting cylinders 19. Two vertical first slide grooves are arranged on the front side wall of the lifting box 18, and a movable fixed block 21 is slidably arranged in each first slide groove; the inner ends of the two movable fixed blocks 21 are fixedly arranged on the lifting plate 20, and the outer ends of the two movable fixed blocks 21 are fixedly connected to the rear end surface of the rotating box 22.

[0043] The piston rods of the two lifting cylinders 19 are synchronously extended and retracted to drive the lifting plate 20 to move up and down, and the lifting plate 20 drives the rotating box 22 to move up and down through two movable fixed blocks 21.

[0044] A fixing mechanism is also provided inside the connection platform 12, through which the lifting box 18 is fixedly connected to the connection platform 12. The fixing mechanism includes a guide rail 13, a bidirectional screw rod 14, a hexagon socket bolt 16, a moving block 15, and a moving connection seat 17.

[0045] Two upper and lower horizontal fixing grooves are provided on the front end surface of the connecting platform 12, and a guide rail 13 is fixedly provided inside each fixing groove. A bidirectional screw rod 14 is rotatably provided inside the guide rail 13, one end of which extends to the outside of the connecting platform 12, and a hexagon socket bolt 16 is fixedly provided at the end of the bidirectional screw rod 14 extending to the outside of the connecting platform 12. The bidirectional screw rod 14 is controlled to rotate by turning the hexagon socket bolt 16. A moving block 15 is screwed on the two external threaded sections with opposite rotation directions on the outside of the bidirectional screw rod 14, and the moving block 15 is slidably engaged with the guide rail 13. A moving connection seat 17 is fixedly provided on one end of the outer side of the moving block 15 by bolts, and the same screw rod is inserted between the two moving connection seats 17, and a locking nut is screwed on each of the two ends of the screw rod, and the locking nut is in contact with the moving connection seat 17. Two upper and lower fixing holes are provided on the lifting box 18. The upper and lower screw rods are respectively inserted into the two fixing holes of the lifting box 18.

[0046] When the lifting box 18 needs to be fixed on the connection platform 12, two screws are passed through the two fixing holes on the lifting box 18, and then the screws are passed through the movable connection seats 17 on both sides. Then the hexagon socket bolts 16 are rotated to drive the two-way screw rod 14 to rotate, and the two-way screw rod 14 drives the two moving blocks 15 to move closer to each other, and the two moving blocks 15 drive the two moving connection seats 17 to move closer to each other until the two moving connection seats 17 are in stable contact with the lifting box 18, and then the locking nuts at the left and right ends of each screw are tightened. In this way, the lifting box 18 is fixed on the connection platform 12.

[0047] The slewing mechanism includes a slewing support 23 , a worm wheel 24 , a worm 25 , and a first motor 26 .

[0048] The rotating box 22 is a square box structure. A circular ring-shaped slewing support 23 is rotatably arranged inside the rotating box 22 through a bearing. A flange is fixedly arranged at the front end of the slewing support 23, which is connected to the clamping mechanism through the flange. Four circular array worm gears 24 are rotatably arranged on the rear inner wall of the rotating box 22, and the four worm gears 24 are all meshed with the slewing support 23. Four first motors 26 are also fixedly arranged on the rear inner wall of the rotating box 22, and a worm 25 is fixedly arranged on the output shaft of each first motor 26, and the four worm gears 25 are respectively meshed with the four worm gears 24.

[0049] The four first motors 26 work simultaneously to drive the four worms 25 to rotate synchronously, the four worms 25 drive the four worm wheels 24 to rotate synchronously, the four worm wheels 24 simultaneously drive the slewing support 23 to rotate, the slewing support 23 drives the clamping mechanism to rotate, thereby adjusting the rotation angle of the clamping mechanism.

[0050] The clamping mechanism further includes a swing seat 27 , a swing arm 28 , a second motor 31 , a driving gear 30 , a driven gear 29 , and a mechanical claw 36 .

[0051] A swing seat 27 is fixedly provided at the front end of the flange. A hinge seat is fixedly provided at the front end surface of the swing seat 27. A swing arm 28 is fixedly provided at the rear end of each clamping arm. Both swing arms 28 are rotatably provided inside the hinge seat, and the rotation axes of both swing arms 28 are kept vertical. A driving gear 30 is fixedly provided at the upper end of the rotation axis of one of the swing arms 28, and a driven gear 29 is fixedly provided at the upper end of the rotation axis of the other swing arm 28, and the driving gear 30 is meshed with the driven gear 29. A second motor 31 is also fixedly provided at the front end surface of the swing seat 27, and the output shaft of the second motor 31 is fixedly connected to the driving gear 30.

[0052] A mechanical claw 36 is fixedly provided at the front end of each of the two clamping arms, a clamping plate 37 is fixedly provided on the inner side of each of the two mechanical claws 36 , and two front and rear rubber plates 38 are fixedly provided on the inner side of the clamping plate 37 .

[0053] When the second motor 31 rotates, the second motor 31 drives the driving gear 30 to rotate. Since the driving gear 30 is meshed with the driven gear 29, the driving gear 30 and the driven gear 29 start to rotate in the opposite direction. The driving gear 30 and the driven gear 29 drive the two clamping arms to rotate in the opposite direction. The two clamping arms drive the two mechanical claws 36 to move in the opposite direction, thereby realizing the grabbing and releasing of the material.

[0054] The clamping arm includes a first mechanical arm 32, a second mechanical arm 33, a threaded rod 34, and a third motor 35. The first mechanical arm 32 is a square cylindrical structure with an open front end, and the second mechanical arm 33 is slidably inserted into the front end opening of the first mechanical arm 32. The rear end of the first mechanical arm 32 is fixedly connected to the swing arm 28, and the front end of the second mechanical arm 33 is fixedly provided with the mechanical claw 36. The third motor 35 is fixedly provided at one end of the inner side of the first mechanical arm 32, and the threaded rod 34 is fixedly provided on the output shaft of the third motor 35. The threaded rod 34 is screwed into the second mechanical arm 33, and the outer side surface of the second mechanical arm 33 is in sliding contact with the inner side surface of the first mechanical arm 32.

[0055] The third motor 35 drives the threaded rod 34 to rotate when rotating. Since the threaded rod 34 is threadedly connected to the second mechanical arm 33, the second mechanical arm 33 is driven to slide inside the first mechanical arm 32, thereby adjusting the length of the clamping arm.

[0056] The hoisting mechanism includes a hook connection seat 39 , a fourth motor 40 , a cable 41 , an eye hook 42 , a ratchet 43 , a pawl 44 , a rotating shaft 45 , a limit block 46 , a spring 47 , and a fifth motor 48 .

[0057] The hook connection seat 39 is fixedly arranged at the lower side of the front end of the clamping arm. The hook connection seat 39 is a U-shaped plate structure. A winding roller is rotatably arranged inside the hook connection seat 39, and a fourth motor 40 is fixedly arranged outside the hook connection seat 39. One end of the winding roller is fixedly connected to the output shaft of the fourth motor 40, and a ratchet 43 is fixedly arranged at one end of the winding roller. A cable 41 is fixedly wound around the outside of the winding roller, and an eye hook 42 is fixedly arranged at the end of the cable 41.

[0058] A fifth motor 48 is fixedly arranged on the outer side of the hook connection seat 39, and a rotating shaft 45 is fixedly arranged on the output shaft of the fifth motor 48. One end of the rotating shaft 45 away from the fifth motor 48 is rotatably connected to the outer side of the hook connection seat 39. A ratchet 44 is rotatably sleeved on the outer side of the rotating shaft 45, and the ratchet 44 cooperates with the ratchet wheel 43. A deflection groove is arranged on the side of the ratchet 44, and a limit block 46 is fixedly arranged on the outer wall of the rotating shaft 45, and the limit block 46 extends into the deflection groove. A spring 47 is arranged inside the deflection groove, and one end of the spring 47 is connected to the inner wall of the deflection groove, and the other end of the spring 47 is connected to the limit block 46.

[0059] The working principle of the present invention is:

[0060] Step 1: First, fix the lifting box 18 on the connection platform 12, specifically, pass two screws through the two fixing holes on the lifting box 18, and then pass the screws through the movable connection seats 17 on both sides. Then, rotate the hexagon socket bolt 16 to drive the two-way screw rod 14 to rotate, and the two-way screw rod 14 drives the two moving blocks 15 to approach each other, and the two moving blocks 15 drive the two moving connection seats 17 to approach each other until the two moving connection seats 17 are in stable contact with the lifting box 18, and then tighten the locking nuts at the left and right ends of each screw rod, so that the lifting box 18 is fixed on the connection platform 12. The lifting boxes 18 of different widths can be fixed on the connection platform 12 through the fixing mechanism.

[0061] Step 2. After the lifting box 18 is installed, connect all electrical equipment with wires and power on. Start the lifting hydraulic cylinder 4 and the positioning hydraulic cylinder 10, and raise the front end of the lifting arm 2 through the lifting hydraulic cylinder 4. At this time, the rotating block 7 and the connecting platform 12 are tilted. Control the piston rods of the two positioning hydraulic cylinders 10 to extend and retract synchronously, drive the positioning rod 11 to slide inside the positioning plate 8, thereby driving the rotating block 7 to rotate inside the mounting seat 6, and the rotating block 7 drives the connecting platform 12 to rotate, and then adjust the angle of the connecting platform 12 to ensure that the connecting platform 12 is in a horizontal state. Then, preliminarily adjust the position of the mechanical claw 36 according to the height and distance of the parts to be disassembled and assembled from the forklift 1, and start the extension and retraction of the telescopic arm 5 to control the movement of the mechanical claw 36.

[0062] Step three, when the two mechanical claws 36 need to change from a horizontal state to a vertical state, start the first motor 26, and the four first motors 26 work simultaneously to drive the four worm gears 25 to rotate synchronously, and the four worm gears 25 drive the four worm wheels 24 to rotate synchronously, and the four worm wheels 24 simultaneously drive the slewing support 23 to rotate, and the slewing support 23 drives the clamping mechanism to rotate, thereby adjusting the rotation angle of the clamping mechanism, and then controlling the mechanical claws 36 in the horizontal state to change to the vertical state.

[0063] Step 4: After the distance and height between the mechanical claw 36 and the component to be disassembled and assembled are preliminarily adjusted, the lifting cylinder 19 and the third motor 35 are started. The piston rods of the two lifting cylinders 19 are synchronously extended and retracted to drive the lifting plate 20 to move up and down, and the lifting plate 20 drives the rotating box 22 to move up and down through the two moving fixed blocks 21. When the third motor 35 rotates, it drives the threaded rod 34 to rotate. Since the threaded rod 34 is screwed to the second mechanical arm 33, it drives the second mechanical arm 33 to slide inside the first mechanical arm 32, thereby adjusting the length of the clamping arm, and then adjusting the height and distance between the mechanical claw 36 and the component.

[0064] Step 5: After the height and distance between the mechanical claw 36 and the component are adjusted, the second motor 31 is started, and the second motor 31 drives the driving gear 30 to rotate. Since the driving gear 30 is meshed with the driven gear 29, the driving gear 30 and the driven gear 29 start to rotate in the opposite direction, and the driving gear 30 and the driven gear 29 drive the two clamping arms to rotate in the opposite direction, and the two clamping arms drive the two mechanical claws 36 to move in the opposite direction, thereby clamping the component. When the mechanical claw 36 clamps the component, the rubber plate 38 increases the friction for better clamping.

[0065] Step 6: When the component needs to be lifted, the fifth motor 48 is started, and the fifth motor 48 controls the rotation of the rotating shaft 45, and the rotating shaft 45 drives the pawl 44 to rotate, so that the pawl 44 is disengaged from the ratchet 43, and the pawl 44 no longer limits the rotation of the ratchet 43. Then the fourth motor 40 is used to control the winding roller to rotate, and the winding roller begins to unwind the cable 41, and controls the eye hook 42 to descend. When the height of the eye hook 42 is determined, the fifth motor 48 is started to rotate in the opposite direction, and then the pawl 44 is controlled to limit the ratchet 43, so that the eye hook 42 no longer descends. Then the lifting hydraulic cylinder 4 is started to control one end of the lifting arm 2 to rise, so as to lift the component; when the component is lifted, the eye hook 42 is removed, and the fourth motor 40 is started to control the winding roller to rotate, so as to reel the cable 41. At this time, the ratchet 43 will continuously hit the pawl 44, and the spring 47 inside the pawl 44 is always in a compressed state. When all tasks are completed, all electrical equipment will be powered off.

[0066] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A disassembly and assembly robot for maintenance of mining equipment, characterized in that: The invention comprises a forklift (1), a lifting arm (2) is hingedly connected to the forklift (1), a telescopic arm (5) is slidably arranged inside the lifting arm (2), a connecting platform (12) is rotatably arranged at the end of the telescopic arm (5) via an angle adjustment mechanism, and the angle of the connecting platform (12) is adjusted via the angle adjustment mechanism; a rotating box (22) is slidably arranged on the connecting platform (12) via a lifting mechanism, and the lifting and lowering of the rotating box (22) is controlled via the lifting mechanism; a clamping mechanism is rotatably arranged on the rotating box (22) via a slewing mechanism, and the clamping mechanism is controlled via the slewing mechanism to rotate as a whole; the clamping mechanism comprises two clamping arms, and a hoisting mechanism is arranged at the lower end of each clamping arm; The angle adjustment mechanism comprises a mounting seat (6), a rotating block (7), a positioning plate (8), a fixed plate (9), a positioning hydraulic cylinder (10), and a positioning rod (11); a mounting seat (6) is fixedly arranged at the end of the telescopic arm (5), and a U-shaped mounting groove is arranged inside the mounting seat (6); the connecting platform (12) is located at the front side of the mounting seat (6); a rotating block (7) is fixedly arranged on the rear end surface of the connecting platform (12), and the rotating block (7) is rotatably arranged at the U-shaped opening of the mounting groove; A U-shaped positioning plate (8) is fixedly arranged on the rear side of the rotating block (7), and a positioning rod (11) is slidably inserted inside the positioning plate (8); a fixing plate (9) is fixedly arranged inside the mounting groove of the mounting seat (6), and two positioning hydraulic cylinders (10) are fixedly arranged on the fixing plate (9), one end of the cylinder bottom of the two positioning hydraulic cylinders (10) is fixedly connected to the fixing plate (9), and one end of the piston rod of the two positioning hydraulic cylinders (10) is hinged to the two ends of the positioning rod (11) respectively; The lifting mechanism comprises a lifting box (18), a lifting cylinder (19), a lifting plate (20), and a movable fixed block (21); the lifting box (18) is fixedly arranged at the front end surface of the connecting platform (12); two lifting cylinders (19) are fixedly arranged on the lower end surface of the lifting box (18), and the piston rods of the lifting cylinders (19) extend into the lifting box (18); the same lifting plate (20) is fixedly arranged at the ends of the piston rods of the two lifting cylinders (19); two vertical first sliding grooves are arranged on the front side wall of the lifting box (18), and a movable fixed block (21) is slidably arranged in each first sliding groove; the inner ends of the two movable fixed blocks (21) are fixedly arranged on the lifting plate (20), and the outer ends of the two movable fixed blocks (21) are fixedly connected to the rear end surface of the rotating box (22); The slewing mechanism comprises a slewing support (23), a worm wheel (24), a worm (25), and a first motor (26); a circular slewing support (23) is rotatably arranged inside the rotating box (22) via a bearing, a flange is fixedly arranged at the front end of the slewing support (23), and the flange is connected to the clamping mechanism; four worm wheels (24) are rotatably arranged in a circular array on the rear inner wall of the rotating box (22), and the four worm wheels (24) are all meshed with the slewing support (23); four first motors (26) are also fixedly arranged on the rear inner wall of the rotating box (22), and a worm (25) is fixedly arranged on the output shaft of each first motor (26), and the four worm wheels (25) are respectively meshed with the four worm wheels (24); A fixing mechanism is also provided inside the connecting platform (12), and the lifting box (18) is fixedly connected to the connecting platform (12) through the fixing mechanism; the fixing mechanism comprises a guide rail (13), a bidirectional screw rod (14), a hexagon socket bolt (16), a moving block (15), and a moving connecting seat (17); two upper and lower horizontal fixing grooves are provided on the front end surface of the connecting platform (12), and a guide rail (13) is fixedly provided inside each fixing groove; a bidirectional screw rod (14) is rotatably provided inside the guide rail (13), and one end of the bidirectional screw rod (14) extends to the outside of the connecting platform (12), and the bidirectional screw rod (14) extends to the connecting platform (12). A hexagon socket bolt (16) is fixedly provided at one end of the outer side of the platform (12); a moving block (15) is screwed onto two external threaded sections with opposite rotation directions on the outer side of the bidirectional screw rod (14), and the moving block (15) is slidably engaged with the guide rail (13); a moving connection seat (17) is fixedly provided at one end of the outer side of the moving block (15) by means of bolts, and the same screw rod is inserted between the two moving connection seats (17), and a locking nut is screwed onto each of the two ends of the screw rod, and the locking nut is in contact with the moving connection seat (17); an upper and lower fixing holes are provided on the lifting box (18); and the upper and lower screw rods are respectively inserted into the two fixing holes of the lifting box (18).

2. A disassembly and assembly robot for mining equipment maintenance according to claim 1, characterized in that: The lower end of the lifting arm (2) is hinged to the upper end surface of the forklift (1); a connecting plate (3) is fixedly arranged on the left and right sides of the middle of the outer side surface of the lifting arm (2), and a lifting hydraulic cylinder (4) is hinged to each connecting plate (3); one end of the cylinder bottom of the lifting hydraulic cylinder (4) is hinged to the upper end surface of the forklift (1), and one end of the piston rod of the lifting hydraulic cylinder (4) is hinged to the connecting plate (3).

3. The disassembly and assembly robot for mining equipment maintenance according to claim 1, characterized in that: The clamping mechanism further comprises a swing seat (27), a swing arm (28), a second motor (31), a driving gear (30), a driven gear (29), and a mechanical claw (36); the swing seat (27) is fixedly arranged at the front end of the flange; an articulated seat is fixedly arranged at the front end surface of the swing seat (27); a swing arm (28) is fixedly arranged at the rear end of each clamping arm, and both swing arms (28) are rotatably arranged inside the articulated seat; a driving gear (30) is fixedly arranged at the upper end of the rotating shaft of one of the swing arms (28), and a driven gear (30) is fixedly arranged at the upper end of the rotating shaft of the other swing arm (28). A driven gear (29) is fixedly arranged at the upper end of the rotating shaft of the swing arm (28), and the driving gear (30) is meshed with the driven gear (29); a second motor (31) is also fixedly arranged on the front end surface of the swing seat (27), and the output shaft of the second motor (31) is fixedly connected to the driving gear (30); a mechanical claw (36) is fixedly arranged at the front end of each of the two clamping arms, a clamping plate (37) is fixedly arranged on the inner side surface of each of the two mechanical claws (36), and two front and rear rubber plates (38) are fixedly arranged on the inner side surface of the clamping plate (37).

4. A disassembly and assembly robot for mining equipment maintenance according to claim 3, characterized in that: The clamping arm comprises a first mechanical arm (32), a second mechanical arm (33), a threaded rod (34), and a third motor (35); the first mechanical arm (32) is a square cylindrical structure with an opening at the front end; the second mechanical arm (33) is slidably inserted into the interior of the front end opening of the first mechanical arm (32); the rear end of the first mechanical arm (32) is fixedly connected to the swing arm (28); the front end of the second mechanical arm (33) is fixedly provided with the mechanical claw (36); the third motor (35) is fixedly provided at one end of the inner side of the first mechanical arm (32); the threaded rod (34) is fixedly provided on the output shaft of the third motor (35); the threaded rod (34) is screwed into the interior of the second mechanical arm (33); the outer side surface of the second mechanical arm (33) is in sliding contact with the inner side surface of the first mechanical arm (32).

5. The disassembly and assembly robot for mining equipment maintenance according to claim 1, characterized in that: The hoisting mechanism comprises a hook connection seat (39), a fourth motor (40), a cable (41), and an eye hook (42); the hook connection seat (39) is fixedly arranged at the lower side of the front end of the clamping arm, a winding roller is rotatably arranged inside the hook connection seat (39), and the fourth motor (40) is fixedly arranged on the outer side of the hook connection seat (39); one end of the winding roller is fixedly connected to the output shaft of the fourth motor (40), and a ratchet (43) is fixedly arranged on one end of the winding roller; a cable (41) is fixedly wound around the outer side of the winding roller, and an eye hook (42) is fixedly arranged at the end of the cable (41).

6. A disassembly and assembly robot for mining equipment maintenance according to claim 5, characterized in that: The hoisting mechanism further comprises a ratchet (44), a rotating shaft (45), a limit block (46), a spring (47), and a fifth motor (48); the fifth motor (48) is fixedly arranged on the outer side of the hook connecting seat (39); the rotating shaft (45) is fixedly arranged on the output shaft of the fifth motor (48); the end of the rotating shaft (45) away from the fifth motor (48) is rotatably connected to the outer side surface of the hook connecting seat (39); a ratchet (44) is rotatably sleeved on the outer side of the rotating shaft (45); the ratchet (44) cooperates with the ratchet wheel (43); a deflection groove is arranged on the side of the ratchet (44); a limit block (46) is fixedly arranged on the outer wall of the rotating shaft (45); the limit block (46) extends into the deflection groove; a spring (47) is arranged inside the deflection groove; one end of the spring (47) is connected to the inner wall of the deflection groove, and the other end of the spring (47) is connected to the limit block (46).

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