Mine heading machine multidirectional self-adaptive dismounting device, control system and calibration method

Abstract

The invention belongs to the technical field of intelligent manufacturing equipment, and discloses a mine heading machine multidirectional self-adaptive dismounting device, a control system and a calibration method. According to the dismounting device, by means of cooperative operation of the base support, the rotating table, the sliding support and the like, flexible adjustment of the mechanical arm in multiple dimensions is achieved, the mechanical arm accurately controls the grabbing action through cooperation of the servo motor and the oil cylinder, and the grabbing precision and stability are greatly improved. And through the design of an annular rail and a sliding base, the overall operation flexibility and dismounting efficiency are further improved. And the control system integrates an electrical regulation and control system, a hydraulic system, an image processing analysis system and a data acquisition system, so that accurate control and automatic operation are achieved. In addition, according to the calibration method, standard component data are obtained firstly, then camera and control algorithm parameters are adjusted, and therefore the grabbing action of the mechanical arm is optimized. The problems that when the mine heading machine is maintained, parts are difficult to disassemble and assemble, the safety risk is high, and the maintenance efficiency is low are solved, and the maintenance efficiency and safety of the mine heading machine are comprehensively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent manufacturing equipment, and specifically relates to a multi-directional adaptive disassembly device, a control system and a calibration method for a mine boring machine. Background Art

[0002] As a common heavy equipment in modern mining operations, the various parts of the mining machine will experience varying degrees of wear and deformation after long-term high-intensity operation, which makes the already complicated disassembly and assembly work extremely difficult. Since many parts of the mining machine, such as the main frame and scraper conveyor, are large in size and heavy in weight, large lifting equipment is required for auxiliary operations when disassembling and assembling these parts. However, some large parts of the crane, such as the bridge and counterweight, are large in size and heavy in weight. In some old factories or work sites with limited space, the space for large lifting equipment to be used is limited, making it difficult to accurately position and operate.

[0003] The mine boring machines widely used in the domestic coal mining industry generally have a body height in the range of 1.5-3.26 meters, and a body span of about 3 meters. Taking the EBZ132 boring machine as an example, the widest part of the body of this model of boring machine can reach 2.24 meters, and the body height is 1.55 meters. If traditional large-scale lifting equipment is still used to lift and transport its large parts, a series of technical difficulties will be faced. In the prior art, the boring machine maintenance device proposed in patent CN113247837A has improved the working conditions of the staff when repairing the boring machine to a certain extent. The device is designed with a height adjustment mechanism, a drive and a sliding mechanism, so that the working basket can flexibly adjust its position, which is convenient for the staff to reach different positions of the boring machine for maintenance, avoiding the inefficiency caused by climbing escalators and improving the maintenance efficiency. However, when faced with the complex disassembly and assembly of mining tunnel boring machines, this patented technology still has the problem of adjusting the maintenance position of personnel. It does not provide an effective solution for the disassembly of large components in narrow spaces and the difficulty of disassembly caused by wear and deformation of components. At the same time, the device cannot achieve accurate disassembly operations when the gears and bearings are stuck inside the gearbox of the tunnel boring machine. In addition, during the disassembly and assembly of the equipment, if the high-pressure liquid that may remain inside the equipment is disassembled rashly without scientific treatment, it is very likely to cause a liquid injection accident. In terms of lifting operations, if the lifting point is not properly selected, the lifting equipment is not stable enough, or the operator's skills are not up to standard, the lifted parts are prone to shaking, tilting, or even falling during the lifting process. Once a part falls, it will not only damage the tunnel boring machine equipment, but also seriously threaten the lives of on-site maintenance personnel.

[0004] In summary, the disassembly and assembly work in the maintenance of mining tunnel boring machines faces many challenges, from the difficulty of disassembly caused by structural design, to the hidden dangers of handling large components, to the difficulty of increasing the wear and deformation of components, and many safety hazards. These problems seriously restrict the efficiency and quality of maintenance. Therefore, it is urgent to develop new auxiliary tools or technologies for the maintenance and disassembly of mining tunnel boring machines to solve the problems in the existing working methods. Summary of the invention

[0005] In view of the prominent problems such as the difficulty in disassembling and assembling components, high safety risks, and low maintenance efficiency during the maintenance of mining tunneling machines, the present invention is committed to developing a multi-directional adaptive disassembly device, control system, and calibration method for mining tunneling machines, so as to realize efficient, safe, and accurate component disassembly operations in all directions. The disassembly device designed by the present invention has a unique adaptive adjustment mechanism, which can be flexibly adjusted according to the size and shape of different components, greatly reducing manpower input and effectively reducing operational risks; the intelligent control system can monitor the entire disassembly process in real time, accurately control each link, and effectively avoid the occurrence of failures and accidents; and the precise calibration method further optimizes the performance of the device, ensuring that the disassembly task can be completed stably and efficiently in a complex maintenance environment, which significantly improves the efficiency and safety of mining tunneling machine maintenance as a whole.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a multi-directional adaptive disassembly device for a mining tunneling machine, comprising a base support and a rotating table arranged thereon, wherein a stepper motor is installed on the base support, and the rotating table is started and stopped by the stepper motor drive, and a sliding support and a linear motor are respectively installed on the rotating table, and a mobile platform is slidably connected to the sliding support, and the linear motor shaft is connected to the ball screw through a coupling, and the linear motor drives the mobile platform to perform linear motion along the sliding support by driving the ball screw to rotate; an installation bracket is arranged on the mobile platform, and a disassembly robot arm is arranged on the installation bracket, and the disassembly robot arm completes the precise grasping operation of the parts to be repaired through electromechanical and hydraulic coordinated control.

[0007] As a further explanation and limitation of the above technical solution, the mounting bracket includes a back support bracket, a side support bracket and a bracket, the two side support brackets are installed on the mobile platform, the two brackets are located between the two side support brackets, and the four are located on the same side of the back support bracket; the disassembly robot arm includes two articulated supports, a rotating shaft and a connecting rod, the connecting rod is connected to the articulated support through a rotating shaft, a servo motor is installed on the back support, the servo motor shaft is connected to one of the rotating shafts through a coupling, a swing arm is rotatably arranged between the two brackets through a connecting shaft, one end of the swing arm is hinged to the two connecting rods through a telescopic arm, and a robot is hinged on the other end, a first oil cylinder is hinged between the robot and the bracket, and the two first oil cylinders are used together to accurately control the grasping action of the robot.

[0008] As a further explanation and limitation of the above technical solution, the manipulator includes a connecting end, and a cylinder connecting ear and a manipulator connecting seat respectively installed thereon, two clamping jaws are respectively installed on the manipulator connecting seat through a rotating shaft, meshing gears are respectively installed on the two rotating shafts, and a protective baffle is installed on the manipulator connecting seat, and the protective baffle is used to protect the gears and the rotating shaft from external impacts. A cylinder articulated seat is provided on one of the clamping jaws, and the cylinder articulated seat and the cylinder connecting ear are connected by a second cylinder, and the second cylinder is used to control the opening and closing of the clamping jaws to achieve stable grasping and precise positioning of the parts to be repaired.

[0009] As a further explanation and limitation of the above technical solution, the clamp includes a fixed seat, a connecting plate is installed on the fixed seat by adjusting screws, a grabbing splint is provided on the connecting plate, and the grabbing splint is used to adjust the position of the connecting plate by adjusting screws to ensure that the clamp adapts to components of different sizes and improves the grabbing accuracy and stability.

[0010] As a further supplement to the above technical solution, a slip ring is installed on the fixed seat through a guide rod. The slip ring cooperates with the adjusting screw to realize axial movement of the connecting plate, thereby improving the flexibility of the grabbing range of the grabbing splint and ensuring the adaptability of the device under different working conditions.

[0011] As a further explanation and limitation of the above technical solution, a slide rail is arranged on the sliding support, and a corresponding slider is arranged at the bottom of the mobile platform. The cooperation between the slide rail and the slider ensures the free sliding of the mobile platform in the horizontal direction.

[0012] As a further explanation and limitation of the above technical solution, the base bracket is connected to the rotating table through a bushing and a slewing bearing. An external gear is installed on the outer ring of the slewing bearing. The external gear is meshed with the output gear of the stepper motor. The stepper motor adjusts the angle of the rotating table through gear meshing transmission to ensure the flexibility and accuracy of the disassembly device in multi-directional operations.

[0013] As a further supplement to the above technical solution, a circular track is provided on the base bracket, and a sliding seat is installed on the rotating table. The sliding seat moves along the circular track and coordinates with the stepper motor to achieve multi-angle rotation of the rotating table, thereby improving the operating flexibility and disassembly efficiency of the device.

[0014] A control system, used for the above-mentioned multi-directional adaptive disassembly device of a mine boring machine, includes an electrical control system, a hydraulic system, an image processing and analysis system, and a data acquisition system; the electrical control system includes a programmable logic controller, a frequency converter, a relay, an electrical control cabinet, and connecting lines; the programmable logic controller is used to receive sensor signals of the data acquisition system and output data of the image processing and analysis system, coordinate the motion parameters of the servo motor, the stepper motor, and the linear motor through a preset control program and a PID algorithm, and generate action instructions for the first oil cylinder and the second oil cylinder; the frequency converter is used to adjust the drive frequency of the stepper motor and the linear motor, Realize start-stop and speed control; the relay is used to switch high-power circuits to ensure the safety interlocking of the hydraulic system and the motor drive; the hydraulic system includes a hydraulic pump station, an electromagnetic reversing valve, a hydraulic pipeline, a first oil cylinder and a second oil cylinder, and the hydraulic pump station provides high-pressure oil power for the oil cylinder; the electromagnetic reversing valve switches the direction of the oil circuit according to the instructions issued by the programmable logic controller, controls the first oil cylinder to drive the grasping action of the manipulator, and the second oil cylinder to adjust the opening and closing of the clamping jaws; the image processing and analysis system includes a binocular camera, an industrial computer and an image processing algorithm module. The binocular camera is installed on the mounting bracket, and uses stereo vision technology to collect multi-angle images of the parts to be repaired. The industrial computer runs the image recognition algorithm to extract the three-dimensional coordinates, attitude angle and surface features of the target component, and feeds the processed data back to the programmable logic controller for planning the movement path and grasping strategy of the robot; the data acquisition system includes a position sensor, an infrared laser sensor, a magnetostrictive displacement sensor, an encoder, a force sensor and a data acquisition card; two start and stop sensing plates are installed at the bottom of the rotating table. The position sensor monitors the position of the rotating table in real time through the two sensing plates at the bottom of the rotating table, and controls the start and stop of the stepper motor through the driver of the stepper motor; two infrared laser sensors are installed on both sides of the sliding support respectively, and are used to The invention is used to detect the moving distance of the mobile platform and ensure the accurate position of the mobile platform by controlling the running speed and direction of the linear motor; the magnetostrictive displacement sensor is installed on the first oil cylinder and the second oil cylinder to monitor the piston rod displacement of the two oil cylinders in real time, so as to adjust the grasping action and strength of the manipulator; the encoder is installed on the servo motor shaft to measure the rotation angle and speed of the servo motor; the force sensor is installed at the grasping part of the manipulator to detect the force applied when the manipulator grasps the parts to be repaired; the data acquisition card converts the signals of each sensor into digital signals and transmits them to the programmable logic controller for comprehensive analysis and control decision-making.

[0015] A calibration method mainly comprises the following steps: S1 Obtaining standard component data: According to the specific model of the mining roadheader, obtain the accurate size and shape data of each standard component of the corresponding model of the roadheader from the manufacturer to ensure the accuracy and adaptability of the standard component data used; S2: Place standard components: place the standard components associated with the acquired data within the working range of the disassembly device to provide calibration objects and working conditions for subsequent calibration operations; S3 binocular camera image acquisition and processing: The binocular camera acquires image data of standard components, transmits the acquired image data to the industrial computer, processes the image of the standard components using the image processing algorithm module, and calculates the actual position and posture data of the standard components in the image; S4 binocular camera parameter adjustment: Compare the calculated actual position and posture data with the real position and posture data of the standard component to obtain the position deviation and posture deviation data; according to the position deviation and posture deviation data, adjust the focal length, aperture, and image acquisition angle parameters of the binocular camera to reduce the deviation; S5 grabbing action data collection: start the servo motor, the first cylinder and the second cylinder to make the manipulator grab the standard component, and use the magnetostrictive displacement sensor, encoder and force sensor to collect data in real time; S6 Control algorithm parameter adjustment: Compare the collected sensor data with the theoretical data of the grabbing action of the standard component, and adjust the proportional coefficient, integral coefficient and differential coefficient in the PID control algorithm according to the comparison results; S7 repeats the calibration until the standard is met: repeat steps 3 to 6 times until the deviation between the position data calculated after processing of the image data collected by the binocular camera and the actual data is controlled within ±3 mm, the deviation between the posture data and the actual data is controlled within ±1°, and at the same time, the deviation between the data collected by the magnetostrictive displacement sensor and the theoretical displacement data of the grasping action is controlled within ±1 mm, the deviation between the data collected by the force sensor and the theoretical grasping force data of the grasping action is controlled within ±8% of the grasping force, the deviation between the angle in the encoder data and the theoretical rotation angle data is controlled within ±0.3°, and the deviation between the speed and the rated speed data is controlled within ±3% of the rated speed, thus completing the calibration of the multi-directional adaptive disassembly device of the mining tunneling machine.

[0016] Compared with the prior art, the present invention has the following advantages: 1. The disassembly device of the present invention adopts the coordinated design of the base bracket, rotating table, sliding support, mobile platform and disassembly robot arm, so that the device can be adjusted in multiple dimensions and can flexibly cope with the sizes and shapes of different parts. For example, when working in a narrow space, the rotating table can achieve multi-angle and small-range rotation with the help of the circular track and the sliding seat to avoid collision with obstacles, making it easier for the disassembly robot arm to approach the parts to be repaired, thereby improving the convenience of working in complex sites.

[0017] 2. The manipulator of the present invention uses the first oil cylinder to accurately control the grasping action of the manipulator, and the second oil cylinder to accurately control the opening and closing of the clamping jaws. The clamping jaws can adjust the position of the connecting plate by adjusting the screws, and cooperate with the slip ring to achieve axial movement. They can fit parts of different sizes and shapes tightly, effectively improve the grasping accuracy and stability, reduce the risk of shaking and tilting of parts during the grasping process, avoid damage to the parts, and ensure the safety of the parts during disassembly and transportation.

[0018] 3. The control system of the present invention integrates an electrical control system, a hydraulic system, an image processing and analysis system, and a data acquisition system. Various sensors in the data acquisition system monitor key data in the disassembly process in real time, such as force sensors monitoring the grasping force, magnetostrictive displacement sensors monitoring the displacement of the cylinder piston rod, etc., and transmit the data to a programmable logic controller. The controller adjusts the actions of each motor and cylinder in a timely manner based on these data to achieve precise control, effectively avoid failures and accidents, and ensure the safety of operators.

[0019] 4. The present invention uses an image processing and analysis system to collect images of the parts to be repaired, and after being processed by an industrial computer, provides data support for the electrical control system, thereby realizing automatic control of stepper motors, linear motors, servo motors and oil cylinders. Compared with the traditional disassembly method relying on manpower, it greatly reduces manpower input, shortens disassembly time, improves the maintenance efficiency of mining tunneling machines, and reduces maintenance costs.

[0020] 5. The calibration method of the present invention accurately calibrates the device by acquiring standard component data, adjusting binocular camera parameters and control algorithm parameters. Repeating the calibration until the deviation of each data is within the allowable error range effectively optimizes the gripping action of the manipulator, ensures that the manipulator can stably and accurately perform disassembly tasks in complex environments, and improves the overall operating efficiency and safety of the device.

[0021] 6. The disassembly device of the present invention does not need to rely on large lifting equipment, thus avoiding the problem that large lifting equipment is difficult to use in old factories or sites with limited space, expanding the scope of application under different site conditions, and making the maintenance work of mining tunneling machines no longer restricted by the site, providing more mining companies with efficient and feasible maintenance solutions.

[0022] 7. The present invention takes safety factors into full consideration in its design, solves the problems of unscientific selection of lifting points and insufficient stability of lifting equipment in traditional disassembly methods, and reduces the risk of components shaking, tilting or even falling during the lifting process. At the same time, reasonable planning is also made for the treatment of safety hazards such as high-pressure liquids that may remain inside the equipment, creating a safer working environment for maintenance personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is a schematic diagram of the overall structure of the multi-directional adaptive disassembly device of the mine boring machine in the present invention; Figure 2 It is an assembly diagram of the disassembly robot arm in the present invention; Figure 3 It is a structural diagram of the manipulator in the present invention; Figure 4 It is an assembly diagram of the sliding support and the moving platform in the present invention; Figure 5 It is a schematic diagram of the cooperation between the base support and the rotating platform in the present invention; Figure 6 It is a structural block diagram of the control system in the present invention; Figure 7 is a flow chart of the calibration method in the present invention; Figure 8 This is a performance comparison chart between the present invention and the traditional calibration method.

[0024] In the figure: the base bracket is 1, the rotating table is 2, the stepper motor is 3, the sliding support is 4, the moving platform is 5, the linear motor is 6, the mounting bracket is 7, the disassembly robot arm is 8, the ball screw is 9, the servo motor is 10, the slide rail is 11, the slider is 12, the bushing is 13, the slewing bearing is 14, the external gear is 15, the output gear is 16, the annular track is 17, the sliding seat is 18, the position sensor is 19, the infrared laser sensor is 20, the binocular camera is 21, the magnetostrictive displacement sensor is 22, the encoder is 23, the force sensor is 24, the electrical control system is 100, the hydraulic system is 200, the image processing and analysis system is 300, and the data acquisition system is 400.

[0025] The specific structure of the mounting bracket is: the back support is 701, the side support frame is 702, and the bracket is 703; Disassemble the specific structure of the robotic arm: the articulated support is 801, the rotating shaft is 802, the connecting rod is 803, the connecting shaft is 804, the swing arm is 805, the telescopic arm is 806, the manipulator is 807, the first cylinder is 808, the connecting end is 8071, the cylinder connecting ear is 8072, the manipulator connecting seat is 8073, the rotating shaft is 8074, the gear is 8075, the clamp is 8076, the cylinder articulated seat is 8077, the second cylinder is 8078, the protective baffle is 8079, the fixed seat is 80761, the connecting plate is 80762, the grabbing splint is 80763, the guide rod is 80764, and the slip ring is 80765. DETAILED DESCRIPTION

[0026] In order to further illustrate the technical solution of the present invention, Figures 1 to 8 , the present invention is further illustrated by two embodiments in combination with actual applications. Embodiment 1

[0027] As attached Figures 1 to 6As shown, a multi-directional adaptive disassembly device for a mining tunneling machine includes a base bracket 1 and a rotating table 2. The base bracket 1 is installed on the ground in the maintenance workshop. The rotating table 2 is connected by a sleeve 13 and a slewing bearing 14. During the installation process, it is necessary to ensure that the outer gear 15 on the outer ring of the slewing bearing 14 is correctly meshed with the output gear 16 of the stepper motor 3, and the meshing clearance must meet the equipment design requirements, wherein the stepper motor 3 is installed on the base bracket 1. Then, the sliding support 4 and the linear motor 6 are installed on the rotating table 2 according to the designed position. The slide rail 11 is installed on the surface of the sliding support 4, and the slider 12 is correspondingly installed at the bottom of the mobile platform 5. After the installation is completed, debugging is performed to ensure that the slider 12 and the slide rail 11 cooperate smoothly, and the mobile platform 5 can slide freely and smoothly in the horizontal direction without jamming. Then, the shaft of the linear motor 6 is reliably connected to the ball screw 9 through a coupling to ensure the coaxiality of the connection and prevent eccentricity during operation from causing equipment damage. Debug the linear motor 6 so that it can drive the ball screw 9 to rotate and drive the mobile platform 5 to make precise linear motion along the sliding support 4. Finally, install the mounting bracket 7 on the mobile platform 5. The mounting bracket 7 consists of a back support 701, a side support frame 702 and a bracket 703. During installation, the two side support frames 702 should be symmetrically and firmly installed on the mobile platform 5. The two brackets 703 are located between the two side support frames 702, and all four are located on the same side of the back support 701. The connection between the components must be tight and reliable to ensure the stability of the overall structure of the mounting bracket 7. Install and disassemble the mechanical arm 8 on the mounting bracket 7, wherein the two articulated supports 801 are fixed on the back support 701, and the connecting rod 803 is connected to the articulated support 801 through the rotating shaft 802 to ensure the rotation flexibility of the rotating shaft 802. Install the servo motor 10 on the back support 701, and connect the shaft of the servo motor 10 to one of the rotating shafts 802 through a coupling to ensure the firmness of the connection and the transmission efficiency. Between the two brackets 703, a swing arm 805 is rotatably arranged through a connecting shaft 804, one end of the swing arm 805 is hinged to the two connecting rods 803 through a telescopic arm 806, and the other end is hinged to a manipulator 807. A first oil cylinder 808 is hinged between the manipulator 807 and the bracket 703, and the two first oil cylinders 808 need to be installed symmetrically, and ensure that the telescopic movement of their piston rods can accurately control the grasping action of the manipulator 807. The disassembled manipulator 8 is debugged, and the range of motion and flexibility of each joint are checked to ensure that it can achieve flexible movement at multiple angles. The manipulator 807 includes a connecting end 8071, a cylinder connecting ear 8072, and a manipulator connecting seat 8073. On the manipulator connecting seat 8073, two clamps 8076 are installed through a rotating shaft 8074, and meshing gears 8075 are installed on the two rotating shafts 8074 to ensure the meshing accuracy of the gears 8075 so that the two clamps 8076 can open and close synchronously.A protective baffle 8079 is installed on the manipulator connection seat 8073 to protect the gear 8075 and the rotating shaft 8074 from external impact. A cylinder articulated seat 8077 is set on one of the clamping jaws 8076, and the cylinder articulated seat 8077 is connected to the cylinder connection ear 8072 through a second cylinder 8078. The second cylinder 8078 is debugged to ensure that it can accurately control the opening and closing of the clamping jaw 8076, so as to achieve stable grasping and precise positioning of the parts to be repaired. The clamping jaw 8076 includes a fixed seat 80761, and a connecting plate 80762 is installed on the fixed seat 80761 through an adjusting screw, and a grasping clamp 80763 is provided on the connecting plate 80762.

[0028] It should be noted that, according to the size of the part to be repaired, we can adjust the position of the connecting plate 80762 by adjusting the screw to ensure that the clamping claw 8076 can adapt to parts of different sizes and improve the grasping accuracy and stability. At the same time, the slip ring 80765 is installed on the fixed seat 80761 through the guide rod 80764. The slip ring 80765 cooperates with the adjusting screw to realize the axial movement of the connecting plate 80762, further improving the flexibility of the grasping range of the grasping clamping plate 80763 and ensuring the adaptability of the device under different working conditions. Embodiment 2

[0029] In order to improve the operation flexibility and disassembly efficiency of the device. Figure 6 As shown, we have added the following improvements on the basis of the above embodiment: an annular track 17 is provided on the base support 1, and a sliding seat 18 is installed on the rotating table 2, so that the sliding seat 18 can move smoothly along the annular track 17. The cooperation between the sliding seat 18 and the annular track 17 and the coordinated movement of the stepping motor 3 are used to realize the multi-angle rotation of the rotating table 2.

[0030] As attached Figure 6As shown, a control system includes an electrical control system 100, a hydraulic system 200, an image processing and analysis system 300, and a data acquisition system 400. The following describes in detail the specific structural connections and configurations of each system: the electrical control system 100 includes a programmable logic controller, a frequency converter, a relay, an electrical control cabinet, and connecting lines. The programmable logic controller, frequency converter, relay and other components are installed in the electrical control cabinet, and the connecting lines are laid according to the electrical schematic diagram to ensure that the lines are connected correctly and firmly without problems such as false connection and short circuit. After the connection is completed, the electrical control cabinet is grounded to ensure the safe operation of the equipment. The position sensor 19 is installed at the bottom of the rotating table 2 so that it can monitor the position information of the rotating table 2 in real time through the two induction plates at the bottom of the rotating table 2. Two infrared laser sensors 20 are installed on both sides of the sliding support 4 to ensure that they can accurately detect the moving distance of the mobile platform 5. Magnetostrictive displacement sensors 22 are installed on the first oil cylinder 808 and the second oil cylinder 8078 to monitor the piston rod displacement of the two oil cylinders in real time. An encoder 23 is installed on the shaft of the servo motor 10 to measure the rotation angle and speed of the servo motor 10. A force sensor 24 is installed at the grasping part of the manipulator 807 to detect the force applied when the manipulator 807 grasps the part to be repaired. The above-mentioned sensor is connected to the programmable logic controller through a data acquisition card to ensure that the signals collected by the sensor can be accurately and timely transmitted to the programmable logic controller for comprehensive analysis and control decision-making. The hydraulic system 200 includes a hydraulic pump station, an electromagnetic reversing valve, a hydraulic pipeline, a first oil cylinder 808 and a second oil cylinder 8078. The hydraulic pump station, the electromagnetic reversing valve and the hydraulic pipeline are connected to ensure the sealing of the hydraulic system to prevent leakage. Add hydraulic oil that meets the equipment requirements to the hydraulic pump station, and debug the hydraulic pump station so that it can provide stable high-pressure oil power to the cylinder. According to the instructions of the programmable logic controller in the electrical control system 100, the electromagnetic reversing valve is debugged to ensure that it can accurately switch the direction of the oil circuit, control the first oil cylinder 808 to drive the grasping action of the manipulator 807, and the second oil cylinder 8078 to adjust the opening and closing of the clamp 8076. The image processing and analysis system 300 includes a binocular camera 21, an industrial computer and an image processing algorithm module. The binocular camera 21 is installed on the mounting bracket 7 to ensure that its shooting field of view can cover the working area of ​​the part to be repaired. The binocular camera 21 is connected to the industrial computer, and the image processing algorithm module is installed and debugged. The binocular camera 21 is run to collect multi-angle images of the part to be repaired through stereo vision technology. The industrial computer runs the image recognition algorithm to extract the three-dimensional coordinates, posture angle and surface features of the target part, and the processed data is fed back to the programmable logic controller for planning the motion path and grasping strategy of the manipulator 807.

[0031] In the actual application of the multi-directional adaptive disassembly device of a mine boring machine, due to the complex and changeable working environment, there are differences in the size, shape and position of the parts to be repaired, and the mechanical structure and sensors inevitably have errors during the manufacturing and installation process. These factors will affect the accuracy and stability of the manipulator's grasping action. If the manipulator cannot accurately grasp the parts, it will not only reduce the disassembly efficiency, but may also cause damage to the parts during the grasping and handling process, and even cause safety accidents. Traditional calibration methods are difficult to adapt to the special needs of mine boring machine disassembly operations and cannot effectively solve the above problems. Therefore, based on the multi-directional adaptive disassembly device of a mine boring machine and the supporting control system described in the above two embodiments, it is crucial to develop a precise calibration method for the disassembly device to improve the overall performance and operational safety of the device.

[0032] As attached Figure 7 As shown, the specific calibration method steps are as follows: S1 Obtain standard component data: According to the specific model of the mining tunnel boring machine, obtain the accurate size and shape data of each standard component of the corresponding model of tunnel boring machine from the manufacturer. This data is the basis of the calibration work and its accuracy and adaptability must be guaranteed.

[0033] S2 Placement of standard components: Place the standard components associated with the acquired data within the working range of the disassembly device. When placing, ensure that the position and posture of the standard components meet the calibration requirements, so as to provide accurate calibration objects and good working conditions for subsequent calibration operations.

[0034] S3 binocular camera image acquisition and processing: Start the binocular camera 21, collect image data of the standard component, and transmit the collected image data to the industrial computer. Use the image processing algorithm module to process the image of the standard component and calculate the actual position and posture data of the standard component in the image.

[0035] S4 Binocular camera parameter adjustment: Compare the calculated actual position and posture data with the real position and posture data of the standard component to obtain position deviation and posture deviation data. According to the position deviation and posture deviation data, adjust the focal length, aperture, image acquisition angle and other parameters of the binocular camera 21, and gradually reduce the deviation through multiple adjustments and tests.

[0036] S5: Grasping action data collection: Start the servo motor 10, the first oil cylinder 808 and the second oil cylinder 8078, and make the manipulator 807 grasp the standard component. During the grasping process, the magnetostrictive displacement sensor 22, the encoder 23 and the force sensor 24 are used to collect data in real time, including the displacement of the oil cylinder piston rod, the rotation angle and speed of the servo motor, the grasping force and other information.

[0037] S6 control algorithm parameter adjustment: Compare the collected sensor data with the theoretical data of the grasping action of the standard component, and adjust the proportional coefficient, integral coefficient and differential coefficient in the PID control algorithm according to the comparison results to optimize the performance of the control algorithm.

[0038] S7 repeats the calibration until the standard is met: repeat steps 3 to 6 times until the deviation between the position data calculated after processing of the image data collected by the binocular camera 21 and the real data is controlled within ±3 mm, the deviation between the posture data and the real data is controlled within ±1°, and at the same time, the deviation between the data collected by the magnetostrictive displacement sensor 22 and the theoretical displacement data of the grasping action is controlled within ±1 mm, the deviation between the data collected by the force sensor 24 and the theoretical grasping force data of the grasping action is controlled within ±8% of the grasping force, the deviation between the angle in the data collected by the encoder 23 and the theoretical rotation angle data is controlled within ±0.3°, and the deviation between the speed and the rated speed data is controlled within ±3% of the rated speed, thus completing the calibration of the multi-directional adaptive disassembly device of the mining tunneling machine.

[0039] In order to verify the advantages of the calibration method of the present invention in terms of grasping accuracy, operating efficiency, safety and adaptability. We compared the calibration method of the present invention with the traditional calibration method. The traditional calibration method adopts manual calibration, while the present invention combines binocular cameras, multiple sensors and a data acquisition system composed of an industrial computer running LabVIEW or MATLAB software to carry out experiments. The calibration target uses standard components of mining tunneling machines (such as gear boxes and scraper conveyor components of different models such as EBZ132 and EBZ160). In the 3m×3m×2m calibration area, the experimental setting uses the disassembly device using the calibration method of the present invention as the experimental group, and the traditional method as the control group. Through a series of experimental processes, such as grasping accuracy verification (recording position and attitude angle deviation), operating efficiency comparison (recording calibration and disassembly time), safety testing (monitoring grasping force fluctuations and component shaking amplitude), adaptability verification (grasping test of components of different sizes) and long-term stability testing (continuous operation recording accuracy and response time), and analysis is carried out according to corresponding evaluation indicators. As shown in the attached Figure 8As shown in the figure, the experimental results show that the present invention is significantly superior to the traditional method in multiple key performance indicators, as shown in the following: the grasping accuracy can be controlled at ≤0.5mm, which is 4 times higher than the accuracy of the traditional method ≥2.0mm, and is suitable for scenes with extremely high precision requirements such as grasping and assembling precision electronic components; the calibration time is ≤10 minutes, which is much shorter than the ≥30 minutes of the traditional method, and the efficiency is improved by 200%, which has outstanding advantages in frequent calibration workflows; the grasping force stability σ≤5N, which is 3 times higher than the traditional method ≥15N, and can ensure the reliability and safety of grasping fragile and deformable objects; the component shaking rate is ≤5%, which is much lower than the traditional method The method ≥30% can improve safety by 6 times, reduce the risk of equipment failure and safety hazards to operators; the grasping success rate is ≥98%, which is higher than the traditional method ≤70%, and the adaptability is improved by 40%, which can adapt to complex and changeable work scenarios and improve work efficiency and production continuity; the accuracy decay rate is ≤1%, which is 5 times higher than the traditional method ≥5%, and the long-term stability is improved by 5 times, reducing equipment calibration or replacement and extending service life; the response time stability is ≤2ms, which is 5 times higher than the traditional method ≥10ms, which meets the high-real-time requirements of high-speed grasping and handling of automated production lines, and provides a strong guarantee for efficient and precise automated operations.

[0040] Its operation working principle: When performing the actual disassembly operation of the mine boring machine parts, the binocular camera 21 in the image processing and analysis system 300 is first started to collect multi-angle images of the parts to be repaired. The industrial computer runs the image recognition algorithm to extract the three-dimensional coordinates, attitude angle and surface features of the target parts, and transmits the processed data to the programmable logic controller in the electrical control system 100. The programmable logic controller coordinates and controls the motion parameters of the stepper motor 3, the linear motor 6 and the servo motor 10 according to the preset control program and PID algorithm, combined with the signals from the position sensor 19, the infrared laser sensor 20 and the like in the data acquisition system 400. The stepper motor 3 drives the rotating table 2 to rotate, adjusts the angle of the rotating table 2, and makes the disassembly robot 8 align with the parts to be repaired; the linear motor 6 drives the ball screw 9 to rotate, drives the mobile platform 5 to make a linear motion along the sliding support 4, so that the disassembly robot 8 is close to the parts to be repaired; the servo motor 10 drives the connecting rod 803 to move through the rotating shaft 802, and then controls the swing of the swing arm 805, so that the robot 807 is close to the target part. When the manipulator 807 approaches the part to be repaired, the electrical control system 100 issues an instruction to start the hydraulic system 200. The hydraulic pump station provides high-pressure oil power to the first oil cylinder 808 and the second oil cylinder 8078, and the electromagnetic reversing valve switches the direction of the oil circuit according to the instruction issued by the programmable logic controller. The first oil cylinder 808 drives the manipulator 807 to perform the grasping action, and the second oil cylinder 8078 controls the opening and closing of the clamp 8076 to achieve stable grasping of the part to be repaired. During the grasping process, the force sensor 24 detects the force of the manipulator 807 grasping the part to be repaired in real time, the magnetostrictive displacement sensor 22 monitors the displacement of the oil cylinder piston rod, and the data acquisition system 400 transmits these data to the programmable logic controller in real time. The programmable logic controller adjusts the actions of each motor and oil cylinder in time according to these data to ensure that the grasping process is smooth and safe, and avoids damage to the part to be repaired. After grasping the part, the part is transferred to the designated maintenance area for subsequent maintenance work by controlling the coordinated movement of the stepper motor 3, the linear motor 6 and the servo motor 10. During the transfer process, the data collected by the data acquisition system 400 ensures that the parts handling process is safe and reliable.

[0041] When encountering parts to be repaired of different sizes, according to the size of the parts, by adjusting the adjustment screws on the clamping jaws 8076, the position of the connecting plate 80762 is adjusted so that the grabbing splint 80763 can fit the surface of the parts tightly, adapt to the changes in the size of the parts, and improve the grabbing accuracy and stability. At the same time, the slip ring 80765 cooperates with the adjustment screws to realize the axial movement of the connecting plate 80762, further expanding the grabbing range of the grabbing splint 80763, and ensuring that the device can work effectively under different working conditions. For parts to be repaired with uneven surfaces or irregular shapes, the image processing and analysis system 300 collects image data from more angles, uses image processing algorithms to more accurately identify the characteristics of the parts, and plans a more suitable motion path and grabbing strategy for the manipulator 807. According to these plans, the electrical control system 100 controls the actions of each motor and cylinder more finely, so that the manipulator 807 can better fit the surface of the parts and achieve stable grabbing. In a maintenance site with limited space, the circular track 17 on the base bracket 1 and the sliding seat 18 on the rotating table 2 are used to realize the multi-angle small-range rotation of the rotating table 2 through the cooperation of the stepping motor 3 and the circular track 17. During the rotation process, the rotation angle of the rotating table 2 is accurately controlled in combination with the feedback information of the position sensor 19 to avoid the collision between the disassembly robot arm 8 and the surrounding obstacles, thereby improving the flexibility and safety of the operation.

[0042] The above shows and describes the main features and advantages of the present invention. For those skilled in the art, it is obvious that the specific implementation of the present invention is not limited to the details of the above exemplary embodiments, and the creative ideas and design ideas of the present invention can be realized in other specific forms without departing from the spirit or basic features of the present invention, which should be equivalent to the protection scope disclosed in the technical solution of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention.

[0043] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multi-directional adaptive disassembly device for a mining tunneling machine, comprising a base support (1) and a rotating platform (2) arranged thereon, characterized in that: A stepper motor (3) is installed on the base support (1), and the rotating table (2) is driven by the stepper motor (3) to start and stop. A sliding support (4) and a linear motor (6) are respectively installed on the rotating table (2). A moving platform (5) is slidably connected to the sliding support (4). The axis of the linear motor (6) is connected to a ball screw (9) via a coupling. The linear motor (6) drives the ball screw (9) to rotate and drives the moving platform (5) to move linearly along the sliding support (4). A mounting bracket (7) is arranged on the moving platform (5), and a disassembly robot arm (8) is arranged on the mounting bracket (7). The disassembly robot arm (8) completes the precise grasping operation of the parts to be repaired through an electromechanical and hydraulic coordinated control method.

2. A multi-directional adaptive disassembly device for a mine boring machine according to claim 1, characterized in that: The mounting bracket (7) comprises a back support bracket (701), a side support bracket (702) and a bracket (703), wherein the two side support brackets (702) are mounted on the mobile platform (5), the two brackets (703) are located between the two side support brackets (702), and the four brackets (703) are located on the same side of the back support bracket (701); the disassembly robot arm (8) comprises two articulated supports (801), a rotating shaft (802) and a connecting rod (803), wherein the connecting rod (803) is connected to the articulated support (801) via the rotating shaft (802), and a connecting rod (803) is mounted on the back support bracket (701). A servo motor (10), wherein the shaft of the servo motor (10) is connected to one of the rotating shafts (802) via a coupling, and a swing arm (805) is rotatably arranged between the two brackets (703) via a connecting shaft (804), one end of the swing arm (805) is hinged to the two connecting rods (803) via a telescopic arm (806), and the other end is hinged to a manipulator (807), and a first oil cylinder (808) is hinged between the manipulator (807) and the bracket (703), and the two first oil cylinders (808) are used together to accurately control the grasping action of the manipulator (807).

3. A multi-directional adaptive disassembly device for a mine boring machine according to claim 2, characterized in that: The manipulator (807) comprises a connection end (8071), and a cylinder connection ear (8072) and a manipulator connection seat (8073) respectively mounted thereon; two clamping claws (8076) are respectively mounted on the manipulator connection seat (8073) via a rotating shaft (8074); meshing gears (8075) are respectively mounted on the two rotating shafts (8074); a protective baffle (8076) is mounted on the manipulator connection seat (8073) 9), the protective baffle (8079) is used to protect the gear (8075) and the rotating shaft (8074) from external impact. A cylinder hinge seat (8077) is provided on one of the clamping jaws (8076), and the cylinder hinge seat (8077) and the cylinder connecting ear (8072) are connected via a second cylinder (8078). The second cylinder (8078) is used to control the opening and closing of the clamping jaw (8076) to achieve stable grasping and precise positioning of the parts to be repaired.

4. A multi-directional adaptive disassembly device for a mine boring machine according to claim 3, characterized in that: The clamping jaw (8076) includes a fixing seat (80761), a connecting plate (80762) is mounted on the fixing seat (80761) by means of an adjusting screw, a grabbing splint (80763) is provided on the connecting plate (80762), and the grabbing splint (80763) is used to adjust the position of the connecting plate (80762) by means of an adjusting screw, thereby ensuring that the clamping jaw (8076) can adapt to components of different sizes and improve grabbing accuracy and stability.

5. The multi-directional adaptive disassembly device for a mine boring machine according to claim 4, characterized in that: A slip ring (80765) is installed on the fixing seat (80761) via a guide rod (80764). The slip ring (80765) cooperates with an adjusting screw to realize axial movement of the connecting plate (80762), thereby improving the flexibility of the grabbing range of the grabbing splint (80763) and ensuring the adaptability of the device under different working conditions.

6. A multi-directional adaptive disassembly device for a mine boring machine according to any one of claims 1 to 5, characterized in that: A slide rail (11) is provided on the sliding support (4), and a corresponding slider (12) is provided at the bottom of the mobile platform (5); the cooperation between the slide rail (11) and the slider (12) ensures that the mobile platform (5) can slide freely in the horizontal direction.

7. The multi-directional adaptive disassembly device for a mine boring machine according to claim 6, characterized in that: The base bracket (1) is connected to the rotating table (2) through a shaft sleeve (13) and a slewing bearing (14); an external gear (15) is mounted on the outer ring of the slewing bearing (14); the external gear (15) is meshed with an output gear (16) of a stepper motor (3); the stepper motor (3) adjusts the angle of the rotating table (2) through gear meshing transmission, thereby ensuring the flexibility and accuracy of the disassembly device in multi-directional operations.

8. The multi-directional adaptive disassembly device for a mine boring machine according to claim 7, characterized in that: The base support (1) is provided with an annular track (17), and a sliding seat (18) is installed on the rotating platform (2). The sliding seat (18) moves along the annular track (17) and cooperates with the stepping motor (3) to achieve multi-angle rotation of the rotating platform (2), thereby improving the operating flexibility and disassembly efficiency of the device.

9. A control system, used for the multi-directional adaptive disassembly device of a mine boring machine according to any one of claims 1 to 8, characterized in that: It includes an electrical control system (100), a hydraulic system (200), an image processing and analysis system (300), and a data acquisition system (400); The electrical control system (100) comprises a programmable logic controller, a frequency converter, a relay, an electrical control cabinet and connecting lines. The programmable logic controller is used to receive sensor signals from a data acquisition system (400) and output data from an image processing and analysis system (300), coordinate motion parameters of a servo motor (10), a stepper motor (3) and a linear motor (6) through a preset control program and a PID algorithm, and generate motion instructions for a first oil cylinder (808) and a second oil cylinder (8078); the frequency converter is used to adjust the drive frequency of the stepper motor (3) and the linear motor (6) to achieve start / stop and speed control; the relay is used to switch high-power circuits to ensure safety interlocking between the hydraulic system (200) and the motor drive; The hydraulic system (200) comprises a hydraulic pump station, an electromagnetic reversing valve, a hydraulic pipeline, a first oil cylinder (808) and a second oil cylinder (8078); the hydraulic pump station provides high-pressure oil power to the oil cylinder; the electromagnetic reversing valve switches the direction of the oil circuit according to instructions issued by the programmable logic controller, controls the first oil cylinder (808) to drive the grasping action of the manipulator (807), and the second oil cylinder (8078) to adjust the opening and closing of the clamping claw (8076); The image processing and analysis system (300) comprises a binocular camera (21), an industrial computer and an image processing algorithm module. The binocular camera (21) is mounted on a mounting bracket (7) and uses stereo vision technology to collect multi-angle images of the component to be repaired. The industrial computer runs an image recognition algorithm to extract the three-dimensional coordinates, attitude angle and surface features of the target component, and feeds the processed data back to a programmable logic controller for planning the motion path and grasping strategy of the manipulator (807). The data acquisition system (400) comprises a position sensor (19), an infrared laser sensor (20), a magnetostrictive displacement sensor (22), an encoder (23), a force sensor (24) and a data acquisition card; two start and stop sensing plates are installed at the bottom of the rotating table (2); the position sensor (19) monitors the position of the rotating table (2) in real time through the two sensing plates at the bottom of the rotating table (2), and controls the start and stop of the stepping motor (3) through the driver of the stepping motor (3); two infrared laser sensors (20) are respectively installed on both sides of the sliding support (4) to detect the moving distance of the moving platform (5), and determine the moving distance by controlling the running speed and direction of the linear motor (6). The movable platform (5) is ensured to be accurately positioned; the magnetostrictive displacement sensor (22) is installed on the first oil cylinder (808) and the second oil cylinder (8078) to monitor the displacement of the piston rods of the two oil cylinders in real time, thereby adjusting the grasping action and strength of the manipulator (807); the encoder (23) is installed on the shaft of the servo motor (10) to measure the rotation angle and speed of the servo motor (10); the force sensor (24) is installed at the grasping part of the manipulator (807) to detect the force applied when the manipulator (807) grasps the part to be repaired; the data acquisition card converts the signals of each sensor into digital signals and transmits them to the programmable logic controller for comprehensive analysis and control decision-making.

10. A calibration method, used in the control system according to claim 9, characterized in that: The following steps are involved: S1 Obtaining standard component data: According to the specific model of the mining roadheader, obtain the accurate size and shape data of each standard component of the corresponding model of the roadheader from the manufacturer to ensure the accuracy and adaptability of the standard component data used; S2: Place standard components: Place standard components associated with the acquired data within the working range of the disassembly device to provide calibration objects and working conditions for subsequent calibration operations; S3 binocular camera image acquisition and processing: The binocular camera (21) acquires image data of the standard component, transmits the acquired image data to the industrial computer, processes the image of the standard component using the image processing algorithm module, and calculates the actual position and posture data of the standard component in the image; S4 binocular camera parameter adjustment: comparing the calculated actual position and posture data with the real position and posture data of the standard component to obtain position deviation and posture deviation data; adjusting the focal length, aperture, and image acquisition angle parameters of the binocular camera (21) according to the position deviation and posture deviation data to reduce the deviation; S5: data collection of grasping action: starting the servo motor (10), the first oil cylinder (808) and the second oil cylinder (8078), so that the manipulator (807) grasps the standard component, and at the same time, using the magnetostrictive displacement sensor (22), the encoder (23) and the force sensor (24) to collect data in real time; S6 Control algorithm parameter adjustment: Compare the collected sensor data with the theoretical data of the grabbing action of the standard component, and adjust the proportional coefficient, integral coefficient and differential coefficient in the PID control algorithm according to the comparison results; S7 repeats the calibration until the standard is met: repeat steps 3 to 6 times until the deviation between the position data calculated after processing the image data collected by the binocular camera (21) and the real data is controlled within ±3 mm, the deviation between the posture data and the real data is controlled within ±1°, and at the same time, the deviation between the data collected by the magnetostrictive displacement sensor (22) and the theoretical displacement data of the grasping action is controlled within ±1 mm, the deviation between the data collected by the force sensor (24) and the theoretical grasping force data of the grasping action is controlled within ±8% of the grasping force, the deviation between the angle in the data collected by the encoder (23) and the theoretical rotation angle data is controlled within ±0.3°, and the deviation between the speed and the rated speed data is controlled within ±3% of the rated speed, thereby completing the calibration of the multi-directional adaptive disassembly device of the mining tunneling machine.

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