Flexible automatic device for assembling roller tooth holder of bolter miner

Abstract

The invention relates to the technical field of bolter miner roller tooth holder assembly and repair, and discloses a bolter miner roller tooth holder assembly flexible automation device which comprises a supporting base, the supporting base is of a cuboid frame structure, a servo motor is installed in the supporting base, a coupler is installed on the upper portion of the servo motor, and a three-jaw chuck is installed on the upper portion of the coupler; a roller body is installed on the upper portion of the three-jaw chuck, and a metal stair is installed on the front side face of the supporting base. A transfer robot picks up a roller tooth holder and installs the roller tooth holder on a roller body, a binocular vision sensor monitors the relative position of the roller tooth holder and the roller body in real time to ensure the assembly precision, a triaxial pressure sensor monitors the assembly pressure in real time to ensure uniform stress, and a left monitor, a right monitor and an anti-collision inductive sensor monitor the working state in real time to ensure safe production. Data are automatically transmitted, efficiency is high, stability is high, the device is adaptive to installation of roller tooth holders of different models, and flexible automatic production is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of assembly and repair of a tooth seat of a bolter and digger drum, and in particular to a flexible automatic device for assembling a tooth seat of a bolter and digger drum. Background Art

[0002] With the continuous advancement of coal mining technology, the performance and efficiency improvement of bolter miners, as the core equipment of coal production, has become the focus of industry attention. The drum tooth seat is a key component of the cutting system of the bolter miner. The quality of its assembly and repair directly affects the cutting efficiency, stability and service life of the bolter miner.

[0003] In the prior art, the assembly and repair of the roller gear seat mainly adopt the methods of fixture positioning and manual assembly. For the fixture positioning solution, Chinese patent CN201610703850.7 proposed a solution for positioning the roller gear seat assembly position using a slidable level and a positioning plate, which to a certain extent achieves the determination of the roller gear seat assembly position. Chinese patent CN202311013951.8 proposed a solution for assembling the roller gear seat manually using a hydraulic press by using fixture positioning, combining manual measurement with machine measurement, and manually using a hydraulic press, which to a certain extent improves the assembly accuracy.

[0004] The following shortcomings are generally found in the prior art roller tooth seat assembly and repair devices: 1. The fixture positioning is only applicable to the assembly of roller tooth seats in the vertical direction; 2. The fixture positioning is limited by size specifications, and different fixtures are required when assembling roller tooth seats on roller bodies of different specifications; 3. The fixture positioning cannot locate the direction of the broken roller tooth seat; 4. The accuracy of manual assembly depends on manual measurement and is unstable; 5. The bonding force between the manually assembled roller tooth seat and the roller body is uneven, resulting in a reduction in the service life of some roller tooth seats; 6. The measurement and assembly process of manual assembly is complicated and time-consuming, resulting in too low production efficiency. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a flexible automated device for assembling a drum tooth seat of an anchor mining machine, thereby solving the problem that the device cannot be used automatically.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a flexible automation device is assembled on the gear seat of the anchor mining machine drum, and a support base is a rectangular frame structure, a servo motor is installed inside the support base, a coupling is installed on the upper part of the servo motor, a three-jaw chuck is installed on the upper part of the coupling, a drum body is installed on the upper part of the three-jaw chuck, and a metal staircase is installed on the front side of the support base; A transfer robot is arranged on the right side of the outside of the support base, a three-axis pressure sensor is connected to the end of the transfer robot, a pneumatic clamp is connected to the other end of the three-axis pressure sensor, a connecting bracket is installed on the side of the end of the transfer robot, a binocular vision sensor is installed on the front of the end of the connecting bracket, and an anti-collision induction sensor is installed on the side of the end of the connecting bracket; An air pump is arranged on the right side of the transfer robot, and a valve control cabinet is connected to the side of the air pump; The parts stand is a four-legged flat stand structure, which is arranged on the outer side of the transfer robot, and a roller gear seat is placed on the upper part of the parts stand; The main control cabinet is located on the right side of the gas valve control cabinet; A left monitor, which is arranged at the left rear of the support base; The right monitor is arranged at the front right side of the transfer robot.

[0007] Preferably, through holes are provided around the bottom of the support base, and wire holes are provided on the side of the support base.

[0008] Preferably, the servo motor is connected to the main control cabinet through wires, the transfer robot is connected to the main control cabinet through wires, the three-axis pressure sensor is connected to the main control cabinet through wires, the air valve control cabinet is connected to the main control cabinet through wires, the binocular vision sensor is connected to the main control cabinet through wires, and the anti-collision sensing sensor is connected to the main control cabinet through wires.

[0009] Preferably, the three-jaw chuck is connected to the air valve control cabinet through a high-pressure air pipe, the pneumatic jaws are connected to the air valve control cabinet through a high-pressure air pipe, and the air pump is connected to the air valve control cabinet through a high-pressure air pipe.

[0010] Preferably, the left monitor and the right monitor are installed opposite to each other, and the installation height is greater than the height of the drum body.

[0011] The present invention provides a flexible automatic device for assembling the gear seat of a bolter drum. It has the following beneficial effects: 1. In the present invention, the purpose of automatic and flexible assembly of the anchor mining machine drum gear seat is achieved through the cooperation of the support base, the transfer robot, the air pump, the parts stand, the main control cabinet, the left monitor and the right monitor.

[0012] 2. The present invention realizes automatic picking up of the roller gear seat through the transfer robot and the pneumatic clamping claw, thereby achieving the effect of improving work efficiency.

[0013] 3. In the present invention, the binocular vision sensor is used to monitor the relative position of the roller gear seat and the roller body in real time, thereby ensuring the assembly accuracy and achieving the effect of improving the product yield rate.

[0014] 4. In the present invention, the assembly pressure is monitored in real time by a three-axis pressure sensor, thereby ensuring uniform force on the roller tooth seat during installation and preventing damage to the roller tooth seat during installation.

[0015] 5. In the present invention, the left monitor and the right monitor are used to record the running posture of the transfer robot in real time, and the anti-collision sensor records the relative position of the end of the transfer robot and other components in real time, and feeds back the data to the main control cabinet to ensure the safe operation of the transfer robot.

[0016] 6. The entire device in the present invention is a closed-loop control, which ensures high efficiency and stability of data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an axonometric diagram of the overall structure of the present invention; Figure 2 It is a top view of the overall structure of the present invention; Figure 3 A partial cross-sectional view of the support base of the present invention; Figure 4 The transfer robot of the present invention and its installation schematic diagram; Figure 5 It is a schematic diagram of the installation of the support base and the three-jaw chuck of the present invention.

[0018] Among them, 1. Support base; 2. Servo motor; 3. Coupling; 4. Three-jaw chuck; 5. Drum body; 6. Metal stairs; 7. Transfer robot; 8. Three-axis pressure sensor; 9. Pneumatic jaws; 10. Connecting bracket; 11. Binocular vision sensor; 12. Anti-collision sensor; 13. Air pump; 14. Air valve control cabinet; 15. Parts stand; 16. Drum gear seat; 17. Main control cabinet; 18. Left monitor; 19. Right monitor; 20. Through hole; 21. Wire hole. DETAILED DESCRIPTION

[0019] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Example: Please see attached Figure 1 -Attached Figure 5The embodiment of the present invention provides a flexible automatic device for assembling a gear seat of a bolter drum, a support base 1, which is a rectangular frame structure, a servo motor 2 is installed inside the support base 1, a coupling 3 is installed on the upper part of the servo motor 2, a three-jaw chuck 4 is installed on the upper part of the coupling 3, a drum body 5 is installed on the upper part of the three-jaw chuck 4, and a metal staircase 6 is installed on the front side of the support base 1; The transfer robot 7 is arranged on the right side of the outside of the support base 1. The end of the transfer robot 7 is connected to a three-axis pressure sensor 8, and the other end of the three-axis pressure sensor 8 is connected to a pneumatic clamp 9. A connecting bracket 10 is installed on the side of the end of the transfer robot 7. A binocular vision sensor 11 is installed on the front of the end of the connecting bracket 10, and an anti-collision induction sensor 12 is installed on the side of the end of the connecting bracket 10; An air pump 13 is disposed on the right side of the transfer robot 7, and a valve control cabinet 14 is connected to the side of the air pump 13; The parts stand 15 is a four-legged flat stand structure, and the parts stand 15 is arranged on the outer side of the transfer robot 7. A roller gear seat 16 is placed on the upper part of the parts stand 15; A main control cabinet 17, which is arranged on the right side of the gas valve control cabinet 14; A left monitor 18, which is arranged at the left rear of the support base 1; The right monitor 19 is disposed on the front right side of the transfer robot 7 .

[0021] In a preferred embodiment, through holes 20 are provided around the bottom of the support base 1 , and wire holes 21 are provided on the side of the support base 1 .

[0022] In the above solution, the through hole 20 provided at the bottom of the support base 1 is used to fix the support base on the ground, and the wire hole 21 is used for the wire to pass through.

[0023] In a preferred embodiment, the servo motor 2 is connected to the main control cabinet 17 through wires, the transfer robot 7 is connected to the main control cabinet 17 through wires, the three-axis pressure sensor 8 is connected to the main control cabinet 17 through wires, the air valve control cabinet 14 is connected to the main control cabinet 17 through wires, the binocular vision sensor 11 is connected to the main control cabinet 17 through wires, and the anti-collision sensor 12 is connected to the main control cabinet 17 through wires.

[0024] In the above scheme, the main control cabinet 17 controls the on and off of the air valve control cabinet 14, and the main control cabinet 17 controls the servo motor 2 to rotate to an appropriate angle so that the position of the drum body 5 where the drum gear seat 16 is not installed faces the transfer robot 7, and the binocular vision sensor 11 monitors and identifies the relative position of the drum gear seat 16 and the drum body 5 in real time, and the three-axis pressure sensor 8 monitors the assembly pressure of the drum gear seat 16 in real time.

[0025] In a preferred embodiment, the three-jaw chuck 4 is connected to the air valve control cabinet 14 through a high-pressure air pipe, the pneumatic jaws 9 are connected to the air valve control cabinet 14 through a high-pressure air pipe, and the air pump 13 is connected to the air valve control cabinet 14 through a high-pressure air pipe.

[0026] In the above scheme, the air valve control cabinet 14 controls the gas output of the air pump 13 to provide power for the three-jaw chuck 4 and the pneumatic clamping jaws 9 to ensure the clamping of the roller body 5 and the roller gear seat 16.

[0027] In a preferred solution, the left monitor 18 and the right monitor 19 are installed opposite to each other, and the installation height is greater than the height of the drum body 5.

[0028] In the above scheme, the left monitor 18 and the right monitor 19 can monitor the position and posture of the drum body 5 and the transfer robot 7 in real time to ensure safe operation.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Flexible automation device for assembling the gear seat of the anchor miner drum, characterized by: A support base (1) is a rectangular parallelepiped frame structure, a servo motor (2) is installed inside the support base (1), a coupling (3) is installed on the top of the servo motor (2), a three-jaw chuck (4) is installed on the top of the coupling (3), a roller body (5) is installed on the top of the three-jaw chuck (4), and a metal staircase (6) is installed on the front side of the support base (1); A transfer robot (7) is arranged on the right side of the outside of the support base (1); a three-axis pressure sensor (8) is connected to the end of the transfer robot (7); the other end of the three-axis pressure sensor (8) is connected to a pneumatic gripper (9); a connecting bracket (10) is installed on the side of the end of the transfer robot (7); a binocular vision sensor (11) is installed at the front of the end of the connecting bracket (10); and an anti-collision induction sensor (12) is installed on the side of the end of the connecting bracket (10); An air pump (13) is arranged on the right side of the transfer robot (7), and a side of the air pump (13) is connected to a gas valve control cabinet (14); A parts stand (15) is a four-legged planar stand structure, the parts stand (15) is arranged on the outer side of the transfer robot (7), and a roller gear seat (16) is placed on the upper part of the parts stand (15); A main control cabinet (17), which is arranged on the right side of the gas valve control cabinet (14); A left monitor (18) disposed at the left rear of the support base (1); The right monitor (19) is arranged at the right front of the transfer robot (7).

2. The flexible automatic device for assembling the anchor mining drum tooth seat according to claim 1 is characterized in that: Through holes (20) are provided around the bottom of the support base (1), and a wire hole (21) is provided on the side of the support base (1).

3. The flexible automatic device for assembling the anchor mining drum tooth seat according to claim 1 is characterized in that: The servo motor (2) is connected to the main control cabinet (17) via a wire, the transfer robot (7) is connected to the main control cabinet (17) via a wire, the three-axis pressure sensor (8) is connected to the main control cabinet (17) via a wire, the gas valve control cabinet (14) is connected to the main control cabinet (17) via a wire, the binocular vision sensor (11) is connected to the main control cabinet (17) via a wire, and the anti-collision induction sensor (12) is connected to the main control cabinet (17) via a wire.

4. The flexible automatic device for assembling the anchor mining drum tooth seat according to claim 1 is characterized in that: The three-jaw chuck (4) is connected to the air valve control cabinet (14) via an air pipe, the pneumatic jaws (9) are connected to the air valve control cabinet (14) via an air pipe, and the air pump (13) is connected to the air valve control cabinet (14) via an air pipe.

5. The flexible automatic device for assembling the anchor mining drum gear seat according to claim 1 is characterized in that: The left monitor (18) and the right monitor (19) are installed opposite to each other, and the installation positions are higher than the height of the drum body (5).

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