Welding repair system and method for crusher

Abstract

The invention belongs to the technical field of crusher equipment, and discloses a crusher welding repair system and method.The crusher comprises a crushing hopper, a roller shaft, roller teeth and a driving gear, the roller shaft is rotationally connected with the crushing hopper, the roller teeth are arranged in the crushing hopper and fixedly connected with the roller shaft, and the driving gear is arranged in the crushing hopper and fixedly connected with the roller shaft; the driving gear is arranged outside the crushing hopper and fixedly connected with the roll shaft, the welding repair system of the crusher comprises a turning mechanism, a welding mechanism and a remote control mechanism, and the turning mechanism is connected with the driving gear and can drive the driving gear to drive the roll shaft to rotate; the welding mechanism is arranged outside the crushing hopper so as to move into the crushing hopper to weld and repair the roller teeth, and the remote control mechanism is electrically connected with the turning mechanism and the welding mechanism so as to remotely control the turning mechanism and the welding mechanism. According to the technical scheme, the problem that the difficulty is large when the roller teeth are manually welded and repaired can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of crusher equipment, and particularly relates to a crusher welding repair system and method. Background Art

[0002] A crusher is a very widely used piece of equipment in mining machinery, which is used to break large ore mined from a mine into small pieces for easy loading and transportation of the small pieces of ore. When the crusher breaks the ore, a transportation mechanism is used to transport the ore to be broken into the crushing mechanism. The crushing mechanism is internally provided with two roller shafts with roller teeth and rotates in an interlocking manner under the drive of a motor to squeeze and break the ore transported into the crushing mechanism. The broken small ore falls from the bottom of the crushing mechanism and is received and transported by a transport vehicle at the bottom of the crushing mechanism.

[0003] However, when the crusher is performing ore crushing operations, it is inevitable to encounter ores with relatively high hardness, which will cause a certain degree of wear or even breakage of the roller teeth on the roller shafts, affecting the crushing effect of the crusher on the ore. Therefore, after the roller teeth are worn or broken, the roller teeth need to be repaired. The existing method for repairing roller teeth is for workers to enter the crushing mechanism and perform welding repairs by holding a welding torch. It is inconvenient for workers to stand inside the crushing mechanism, which increases the difficulty of the welding repair operation. And before the repair, the motor needs to be started to drive the roller shaft to rotate to facilitate the workers to find the roller teeth to be repaired. Since the inertia of the motor driving the roller shaft to rotate in the crushing mechanism is relatively large, it is easy for the roller teeth to be repaired to rotate by too large an angle and miss the best repair angle. In view of this, the present invention application is proposed. Summary of the Invention

[0004] In order to solve the problems of difficult manual repair of roller teeth and difficult control of the welding angle of roller teeth, the present invention provides a crusher welding repair system and method.

[0005] To solve the above technical problems, the present invention provides a crusher welding repair system. The crusher includes a crushing hopper, roller shafts, roller teeth, and drive gears. The roller shafts are rotatably connected to the crushing hopper. The roller teeth are arranged inside the crushing hopper and fixedly connected to the roller shafts. The drive gears are arranged outside the crushing hopper and fixedly connected to the roller shafts. The crusher welding repair system includes a barring gear mechanism, a welding mechanism, and a remote control mechanism. The barring gear mechanism is connected to the drive gear and can drive the drive gear to drive the roller shafts to rotate. The welding mechanism is arranged outside the crushing hopper and can move into the crushing hopper to perform welding repair on the roller teeth. The remote control mechanism is electrically connected to the barring gear mechanism and the welding mechanism to remotely control the barring gear mechanism and the welding mechanism.

[0006] In an embodiment of the present invention, the barring mechanism includes a barring motor, a barring gear, a bearing housing, and a clutch. The barring motor and the bearing housing are fixed to the crushing bucket, and the output shaft of the barring motor passes through the bearing housing and is connected to the clutch and the barring gear. The barring gear meshes with the driving gear, and the clutch can control the engagement or disengagement between the barring motor and the barring gear.

[0007] In an embodiment of the present invention, the barring motor includes one of a stepping motor or a servo motor, and the clutch includes one of an electromagnetic clutch, a magnetic powder clutch, a friction clutch, or a hydraulic clutch.

[0008] In an embodiment of the present invention, the crusher welding repair system further includes a protection mechanism. The protection mechanism includes a gantry, a protection door, a front protection plate, and a lifting driving member. The gantry is fixed between the crushing mechanism and the welding mechanism. The front protection plate is fixed to the upper half of the gantry. The lifting driving member is fixed to the gantry and is connected to the protection door. The protection door is connected to the gantry and rises or falls along the gantry under the drive of the lifting driving member.

[0009] In an embodiment of the present invention, the protection mechanism further includes side protection plates located on both sides of the front protection plate. The side protection plates are fixed to the crushing bucket and are fixedly connected to the gantry.

[0010] In an embodiment of the present invention, the welding mechanism includes a robotic arm, an end fixture, a welding torch, and an image acquisition device. The end fixture is fixed to the end of the robotic arm for the installation and fixation of the welding torch and the image acquisition device. The robotic arm is fixed below the gantry and can drive the welding torch and the image acquisition device to extend into the crushing bucket after the protection door rises.

[0011] In an embodiment of the present invention, the image acquisition device includes a protective cover, a lidar, and a camera. The lidar and the camera are fixed inside the protective cover, and the protective cover is fixed to the end fixture.

[0012] To solve the above technical problems, the present invention also provides a method for welding and repairing a crusher. The method for welding and repairing a crusher includes: a worker issues a welding and repair instruction through a remote control mechanism; the protection mechanism opens the protection door in response to the welding and repair instruction; the welding mechanism extends into the crushing bucket to perform roll tooth detection and roll tooth welding operations in response to the opening of the protection door by the protection mechanism; the barring mechanism drives the roll shaft to rotate intermittently in response to the roll tooth detection by the welding mechanism.

[0013] In an embodiment of the present invention, the step that the welding mechanism extends into the crushing hopper to perform roll tooth detection and roll tooth repair operations in response to the opening of the protection mechanism by the protection mechanism further includes: detecting whether the roll teeth on the roll shaft are abnormal; recording and storing the information of the detected abnormal roll teeth; calculating the additive amount according to the information of the abnormal roll teeth and the information of the preset roll tooth size and generating a welding repair path; and repairing the abnormal roll teeth according to the welding repair path.

[0014] In an embodiment of the present invention, the step of detecting whether the roll teeth on the roll shaft are abnormal further includes:

[0015] Sequentially detecting the point cloud data and plane data of all roll teeth; performing data fusion on the detected roll tooth point cloud data and plane data and establishing a three-dimensional model of the roll shaft; calculating the size data of the corresponding roll teeth according to the coordinate information of the point cloud data of each roll tooth; and sequentially comparing the size data of each roll tooth with the preset roll tooth size data to detect abnormal roll teeth.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] Through the above technical solution, the turning gear mechanism is connected to the driving gear, the welding mechanism is arranged on one side of the crushing hopper, and the remote control mechanism is electrically connected to the turning gear mechanism and the welding mechanism, so as to accurately adjust the rotation angle of the roll shaft through the remote control mechanism, control the welding mechanism to extend into the crushing hopper to perform roll tooth detection, and automatically generate a welding path to weld and repair the roll teeth with larger wear after the detection, realizing the full automation of the roll tooth welding operation and improving the welding repair efficiency of the roll teeth. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0019] Figure 1 is a schematic three-dimensional structure diagram of a crusher welding repair system provided by an embodiment of the present invention;

[0020] Figure 2 is a schematic partial structure diagram of a crusher welding repair system provided by an embodiment of the present invention;

[0021] Figure 3 is a schematic three-dimensional structure diagram of a crushing mechanism and a turning gear mechanism in a crusher welding repair system provided by an embodiment of the present invention Figure 1 ;

[0022] Figure 4 is a schematic three-dimensional structure diagram of a crushing mechanism and a turning gear mechanism in a crusher welding repair system provided by an embodiment of the present inventionFigure 2 ;

[0023] Figure 5 is Figure 5 The enlarged view of position B in

[0024] Figure 6 is Figure 1 The enlarged view of position A in

[0025] Figure 7 is the schematic perspective view of the welding mechanism in the crusher welding repair system provided by an embodiment of the present invention;

[0026] Figure 8 is the step flow chart of the crusher welding repair method provided by an embodiment of the present invention;

[0027] Figure 9 is the step flow chart of step S3 in the crusher welding repair method provided by an embodiment of the present invention;

[0028] Figure 10 is the step flow chart of step S31 in the crusher welding repair method provided by an embodiment of the present invention.

[0029] Explanation of reference numerals

[0030] 1. Crusher welding repair system; 11. Crushing mechanism; 12. Barring gear mechanism; 13. Welding mechanism; 14. Protection mechanism; 111. Crushing hopper; 112. Roller shaft; 113. Roller teeth; 114. Driving gear; 121. Barring motor; 122. Barring gear; 123. Bearing housing; 124. Clutch; 131. Manipulator; 132. End fixture; 133. Welding torch; 134. Image acquisition device; 141. Gantry; 143. Front protection plate; 144. Side protection plate; 145. Lifting driving member; 1341. Protective cover; 1342. Lidar; 1343. Camera. Detailed implementation manners

[0031] The following further describes in detail the specific implementation manners of the present invention with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only for explaining and understanding the present invention, and are not used to limit the present invention.

[0032] Embodiments of the present invention provide a crusher welding repair system and method, which can inspect and weld and repair the roller teeth after the crusher completes the crushing operation, without arranging operators on site at the crusher throughout the process, and can accurately control the rotation angle of the roller shaft during the inspection and welding and repair of the roller teeth, so as to facilitate the inspection and welding and repair of the roller teeth by the welding mechanism, and improve the crushing effect of the crusher.

[0033] As Figures 1 - 5As shown in the figure, the crusher welding repair system 1 provided by the embodiment of the present invention includes a crushing mechanism 11, a barring gear mechanism 12, a welding mechanism 13 and a remote control mechanism. The crushing mechanism 11 includes a crushing hopper 111, roller shafts 112, roller teeth 113 and a driving gear 114. There are two roller shafts 112 which are rotatably connected to the crushing hopper 111. The roller teeth 113 are arranged in the crushing hopper 111 and fixedly connected to the roller shafts 112. The driving gear 114 is arranged outside the crushing hopper 111 and fixedly connected to the roller shafts 112. The two roller shafts 112 can rotate in a meshing manner under the rotation of the driving gears 114 that mesh with each other, so that the ore between the two roller shafts 112 is crushed into small ores under the extrusion of the roller teeth 113. When the crusher performs the crushing operation, the motor of the crushing mechanism 11 directly drives the driving gear 114 to rotate.

[0034] The barring gear mechanism 12 is connected to the driving gear 114 and can drive the driving gear 114 to drive the roller shafts 112 to rotate. The welding mechanism 13 is arranged outside the crushing hopper 111 and can move into the crushing hopper 111 to weld and repair the roller teeth 113. The remote control mechanism is electrically connected to the barring gear mechanism 12 and the welding mechanism 13 to remotely control the barring gear mechanism 12 and the welding mechanism 13.

[0035] The barring gear mechanism 12 and the welding mechanism 13 can be remotely controlled through the remote control mechanism. After the crushing mechanism 11 completes the crushing operation on the ore, the barring gear mechanism 12 is controlled by the remote control mechanism to drive the roller shafts 112 to rotate, and the welding mechanism 13 is controlled to detect the damage degree of the roller teeth 113 and weld and repair the damaged roller teeth 113.

[0036] The barring gear mechanism 12 drives the roller shafts 112 to rotate in an intermittent rotation form, so as to facilitate the welding mechanism 13 to detect and weld and repair the roller teeth 113. That is, when the welding mechanism 13 detects the roller teeth 113, the barring gear mechanism 12 stops driving, so that the roller teeth 113 remain in the current position. After the welding mechanism 13 detects all the roller teeth 113 at the current position, the barring gear mechanism 12 starts to drive the roller shafts 112 to rotate by a set angle and then stops driving again, so that the welding mechanism 13 detects the rotated roller teeth 113. In this way, when the barring gear mechanism 12 drives the roller shafts 112 to rotate 360°, the welding mechanism 13 can complete the detection of the roller teeth 113. During the detection process, the positions and images of the roller teeth 113 with abnormalities detected are recorded and stored. After the welding mechanism 13 detects all the roller teeth 113, the position of the welding mechanism 13 is adjusted according to the stored data, and the barring gear mechanism 12 is controlled to drive the roller shafts 112 to adjust the positions of the roller teeth 113 according to the stored data. Finally, the staff controls the welding mechanism 13 to weld the abnormal roller teeth 113 through the remote control mechanism.

[0037] Among them, the abnormal roller tooth 113 is any one of the length, width or height data of the roller tooth 113 that is less than the preset roller tooth 113 size. When the welding mechanism 13 welds the roller tooth 113, the flux-cored wire is used for layer-by-layer additive welding to repair the roller tooth 113 with a large degree of breakage or wear to the normal roller tooth 113 size.

[0038] It can be understood that the remote control mechanism is arranged in the remote control room on the crusher site. The remote control mechanism includes an industrial control computer, an operating console and a display screen that are electrically connected. The barring gear mechanism 12 and the welding mechanism 13 are electrically connected to the industrial control computer, and the real-time states of the barring gear mechanism 12 and the welding mechanism 13 are displayed through the display screen, so that the staff can control them through the operating console and in combination with the states of each mechanism in the display screen, thereby realizing the welding repair of the abnormal roller tooth 113.

[0039] By using the crusher welding repair system 1 of the present invention to weld and repair the roller teeth 113 in the crusher, the rotation angle of the roller shaft 112 can be accurately adjusted by controlling the barring gear mechanism 12 through the remote control mechanism, avoiding the problem that the rotation angle of the roller shaft 112 cannot be accurately controlled due to large inertia when the motor driving the crushing roller for crushing operation drives the roller shaft 112 to rotate. By combining the welding mechanism 13 arranged on one side of the crushing mechanism 11 with the barring gear mechanism 12 for cooperation, the unmanned welding repair operation of the abnormal roller tooth 113 can be realized. Compared with the method of manual welding by the staff entering the crushing bucket 111 in the prior art, the problem that it is not convenient for the staff to stand in the crushing bucket 111 can be solved, and the difficulty of the welding repair operation can be reduced.

[0040] As Figures 3 - 5 shown, in the embodiment of the present invention, the barring gear mechanism 12 includes a barring gear motor 121, a barring gear 122, a bearing seat 123 and a clutch 124. The barring gear motor 121 and the bearing seat 123 are fixed on the crushing bucket 111, and the output shaft of the barring gear motor 121 passes through the bearing seat 123 and is connected to the clutch 124 and the barring gear 122. The barring gear 122 meshes with the driving gear 114, and the clutch 124 can control the engagement or disengagement of the barring gear motor 121 and the barring gear 122.

[0041] The bearing housing 123 provides stable support for the output shaft of the barring motor 121, meshes the barring gear 122 with the driving gear 114, and a clutch 124 is arranged between the barring motor 121 and the barring gear 122, so as to realize the engagement or disconnection of the barring motor 121 and the barring gear 122 under the control of the clutch 124. During the crushing operation, the clutch 124 is controlled to disconnect the barring motor 121 and the barring gear 122, so that the motor of the crushing mechanism 11 can drive the driving gear 114 to rotate, and the two roller shafts 112 can rotate by engaging with each other to achieve the crushing effect on the ore. Since the clutch 124 is in the disconnected state, when the driving gear 114 rotates, it can drive the barring gear 122 to rotate, but cannot drive the barring motor 121 to rotate, so as to avoid burning out the barring motor 121. When the crushing operation is completed and the welding repair operation of the roller teeth 113 is carried out, the clutch 124 is controlled to engage the barring motor 121 and the barring gear 122, so that the barring motor 121 can drive the barring gear 122 to rotate, and then the barring gear 122 drives the driving gear 114 to rotate, so as to realize the precise rotation of the roller shaft 112, so that the welding mechanism 13 can detect whether the roller teeth 113 are abnormal and perform welding repair on the abnormal roller teeth 113 according to the detected data.

[0042] Among them, the barring motor 121 adopts one of a stepping motor or a servo motor. In the embodiment of the present invention, the barring motor 121 adopts a servo motor, and the remote control mechanism is electrically connected to the barring motor 121, so that the staff can control the barring motor 121 to work through the remote control mechanism, so that the barring motor 121 drives the driving gear 114 to rotate by a precise angle.

[0043] The clutch 124 includes one of an electromagnetic clutch 124, a magnetic powder clutch 124, a friction clutch 124 or a hydraulic clutch 124. In the embodiment of the present invention, the clutch 124 adopts an electromagnetic clutch 124, and the remote control mechanism is electrically connected to the electromagnetic clutch 124, so that the staff can control the engagement or disconnection of the clutch 124 through the remote control mechanism, so as to control the clutch 124 to disconnect during the crushing operation, disconnect the barring motor 121 and the barring gear 122, and control the clutch 124 to engage during the welding repair operation, so that the barring electrolysis and the barring gear 122 are engaged.

[0044] Such as Figure 6As shown in the figure, in the embodiment of the present invention, the crusher welding repair system 1 further includes a protection mechanism 14. The protection mechanism 14 includes a gantry 141, a protection door, a front protection plate 143, and a lifting drive member 145. The gantry 141 is fixed between the crushing mechanism 11 and the welding mechanism 13. The front protection plate 143 is fixed to the upper half of the gantry 141. The lifting drive member 145 is fixed to the gantry 141 and connected to the protection door. The protection door is connected to the gantry 141 and rises or falls along the gantry 141 under the drive of the lifting drive member 145.

[0045] By arranging the protection mechanism 14 on the crusher, the protection of the protection mechanism 14 can block the damage to the on-site equipment caused by the flying crushed stones during the crushing operation of the crusher. Specifically, the gantry 141 is fixed between the crushing mechanism 11 and the welding mechanism 13, and the front protection plate 143 is fixedly arranged on the upper half of the gantry 141, and a liftable protection door is arranged on the lower half. The protection door is connected to the lifting drive member 145 to drive the protection door to lift and lower. The remote control mechanism is connected to the lifting drive member 145, so that the staff can control the opening or closing of the protection door as needed. That is, during the crushing operation, the remote control mechanism controls the lifting drive member 145 to drive the protection door to descend, so as to separate the crushing mechanism 11 and the welding mechanism 13 under the isolation of the front protection plate 143 and the protection door, and avoid the flying crushed stones from damaging the welding mechanism 13 during the crushing operation.

[0046] Among them, the lifting drive member 145 is a crane, and at least two chains wound around the lifting drive member 145 are connected to the protection door, so as to wind or release the chains when the remote control mechanism controls the lifting drive member 145, thereby realizing the rising or falling of the protection door. When the chains are wound, the protection door is opened, and when the chains are released, the protection door is closed.

[0047] In the embodiment of the present invention, the protection mechanism 14 further includes side protection plates 144 located on both sides of the front protection plate 143. The side protection plates 144 are fixed to the crushing hopper 111 and fixedly connected to the gantry 141.

[0048] By arranging the side protection plates 144 on both sides of the gantry 141, the side protection plates 144 can block the damage to the equipment on both sides of the crushing mechanism 11 caused by the flying crushed stones during the crushing operation of the crusher. Specifically, the side protection plates 144 are located on both sides of the front protection plate 143, and the sides are fixedly connected to the gantry 141, and the bottom surfaces are fixedly connected to the crushing hopper 111. One of the side protection plates 144 separates the material inlet of the crushing hopper 111 and the barring gear mechanism 12, so as to prevent the flying crushed stones from damaging the barring gear mechanism 12.

[0049] Such as Figure 7As shown, in an embodiment of the present invention, the welding mechanism 13 includes a robotic arm 131, an end fixture 132, a welding torch 133, and an image acquisition device 134. The end fixture 132 is fixed to the end of the robotic arm 131 for the welding torch 133 and the image acquisition device 134 to be installed and fixed. The robotic arm 131 is fixed below the gantry 141 and can drive the welding torch 133 and the image acquisition device 134 to extend into the crushing hopper 111 after the protective door rises.

[0050] By arranging the robotic arm 131 beside the crusher and fixing the end fixture 132 to the end of the robotic arm 131, it is convenient for the robotic arm 131 to drive the end fixture 132 to hold the welding torch 133 for welding operations. At the same time, by fixing the image acquisition device 134 to the end fixture 132, the image of the roller teeth 113 can be acquired by the image acquisition device 134 when the robotic arm 131 is performing welding operations. Then, the acquired image is transmitted to the remote control mechanism for image recognition, and it is also available for the staff to view the recognition results of the remote control mechanism, improving the recognition accuracy of abnormal roller teeth 113.

[0051] After all the roller teeth 113 are recognized, the remote control mechanism generates a welding repair path for each abnormal roller tooth 113 according to the recognition results. Subsequently, each abnormal roller tooth 113 is welded and repaired in sequence according to the welding repair path. During the welding repair, the staff can view the real-time process of the welding repair on the remote control mechanism to avoid the emergency stop of the welding mechanism 13 when an accident occurs to the welding mechanism 13.

[0052] In an embodiment of the present invention, the image acquisition device 134 includes a protective cover 1341, a lidar 1342, and a camera 1343. The lidar 1342 and the camera 1343 are fixed inside the protective cover 1341, and the protective cover 1341 is fixed to the end fixture 132.

[0053] When the image acquisition device 134 acquires an image, the protective cover 1341 protects the lidar 1342 and the camera 1343. The lidar 1342 is used to detect the point cloud data of the roller teeth 113, and the camera 1343 is used to detect the plane data of the roller teeth 113. The detected point cloud data and plane data are transmitted to the remote control mechanism for data processing to establish a three-dimensional model diagram of the roller shaft 112 for the staff to view, and based on the coordinate information of the point cloud data of each roller tooth 113, the size data of the length, width, and height of the corresponding roller tooth 113 is calculated. Subsequently, the calculated size data of the roller teeth 113 is compared with the preset size data of the roller teeth 113 to detect whether the roller teeth 113 are abnormal.

[0054] As Figure 8 shown, an embodiment of the present invention also provides a method for welding and repairing a crusher, and the method includes:

[0055] Step S1: The staff issues a welding repair instruction through the remote control mechanism;

[0056] Step S2: The protection mechanism opens the protection door in response to the welding repair instruction;

[0057] Step S3: After the protection mechanism opens the protection door, the welding mechanism extends into the crushing bucket to perform roll tooth detection and roll tooth repair operations;

[0058] Step S4: The barring mechanism drives the roll shaft to rotate intermittently in response to the welding mechanism performing roll tooth detection.

[0059] In one example, after the crusher completes the ore crushing operation, the staff controls the crusher to stop working and issues a welding repair instruction through the remote control mechanism. After receiving the welding repair instruction, the protection mechanism controls the lifting drive member to drive the protection door to rise to open the protection door. After the protection door is fully opened, the welding mechanism starts to perform roll tooth detection. The robotic arm drives the image acquisition device to extend into the crushing bucket and slowly move along the axial direction of the roll shaft to detect the roll teeth. At the same time, the barring motor drives the roll shaft to rotate in an intermittent manner so that the image acquisition device can detect all the roll teeth on the roll shaft.

[0060] It can be understood that when the welding mechanism performs roll tooth detection, the robotic arm drives the image acquisition device to move to the upper position on one side of the roll shaft. At the same time, the barring motor drives the roll shaft to rotate to the initial position. After the roll shaft reaches the initial position, the image acquisition device starts to perform roll tooth detection, and the robotic arm drives the image detection device to move in the direction of the other side of the roll shaft.

[0061] Among them, the angle of each rotation of the roll shaft driven by the barring motor is equal. For example, if there are 3 columns of roll teeth arrayed circumferentially on the roll shaft, the angle of each rotation of the roll shaft driven by the barring motor is 120°. After the rotation stops, the robotic arm moves along the axial direction of the roll shaft again to detect the roll teeth at the current angle. After the robotic arm detects all the roll teeth at the current angle, the barring motor is triggered again to drive the roll shaft to rotate 120° so that the robotic arm performs a new round of roll tooth detection. After the roll shaft rotates 360°, the detection of all roll teeth can be completed, and then the robotic arm welds and repairs the abnormal roll teeth according to the detection results.

[0062] As Figure 9 shown, in the embodiment of the present invention, step S3 further includes:

[0063] Step S31: Detect whether the roll teeth on the roll shaft are abnormal;

[0064] Step S32: Record and store the information of the detected abnormal roll teeth;

[0065] Step S33: Calculate the additive amount based on the information of the abnormal roller teeth and the information of the preset roller tooth dimensions, and generate a welding repair path;

[0066] Step S34: Repair the abnormal roller teeth according to the welding repair path.

[0067] When performing roller tooth detection, all roller teeth on the roller shaft are detected by an image acquisition device, and it is determined whether the roller tooth dimensions are within the preset range. The roller teeth with dimensions smaller than the preset range are determined as abnormal roller teeth. By recording and storing the information of the abnormal roller teeth, and then comparing the information of the abnormal roller teeth with the preset roller tooth dimension information, the additive amount required to repair the abnormal tooth roller to the normal size is calculated. At the same time, the welding repair path is calculated, so that when performing welding repair later, the welding repair path can be directly retrieved from the stored database, and the barring motor is controlled to drive the roller shaft to rotate to the angle where the robotic arm can weld for welding repair.

[0068] Among them, the welding repair path of the robotic arm is calculated and generated by a remote control mechanism, and after the welding repair path is generated, it can be audited by the staff to avoid accidents in subsequent welding work.

[0069] As Figure 10 shown, in the embodiment of the present invention, step S31 further includes:

[0070] Step S311: Detect the point cloud data and plane data of all roller teeth in sequence;

[0071] Step S312: Perform data fusion on the detected roller tooth point cloud data and plane data, and establish a three-dimensional model of the roller shaft;

[0072] Step S313: Calculate the dimension data of the corresponding roller teeth according to the coordinate information of the point cloud data of each roller tooth;

[0073] Step S314: Compare the dimension data of each roller tooth with the preset roller tooth dimension data in sequence to detect abnormal roller teeth.

[0074] When performing abnormal roller tooth detection, the point cloud data of the roller teeth is detected by a lidar, and the plane data of the roller teeth is detected by a camera. Subsequently, the remote control mechanism processes the detected point cloud data and plane data, and establishes a three-dimensional model diagram of the roller shaft for the staff to view. Based on the coordinate information of the point cloud data of each roller tooth, the dimension data of the length, width, and height of the corresponding roller teeth is calculated, and the calculated dimension data of the roller teeth is compared with the preset roller tooth dimension data to detect whether the roller teeth are abnormal.

[0075] In an embodiment of the present invention, the roller teeth detected as abnormal by the image acquisition device are presented in the form of images acquired by a camera, and the positions of the roller teeth are displayed in the three-dimensional model, so as to facilitate the staff to verify the accuracy rate of the detection results of the image acquisition device.

[0076] The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not separately describe various possible combination methods. However, these simple modifications and combinations should also be regarded as the content disclosed by the present invention and all fall within the protection scope of the present invention.

[0077] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0078] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower horizontal height than the second feature.

[0079] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A crusher welding repair system, the crusher including a crushing hopper, a roller shaft, roller teeth, and a driving gear, the roller shaft being rotatably connected to the crushing hopper, the roller teeth being arranged inside the crushing hopper and fixedly connected to the roller shaft, the driving gear being arranged outside the crushing hopper and fixedly connected to the roller shaft, characterized in that, the crusher welding repair system includes a turning gear mechanism, a welding mechanism, and a remote control mechanism. The turning gear mechanism is connected to the driving gear and can drive the driving gear to drive the roller shaft to rotate. The welding mechanism is arranged outside the crushing hopper and can move into the crushing hopper to perform welding repair on the roller teeth. The remote control mechanism is electrically connected to the turning gear mechanism and the welding mechanism to remotely control the turning gear mechanism and the welding mechanism.

2. The crusher welding repair system according to claim 1, characterized in that: the turning gear mechanism includes a turning gear motor, a turning gear, a bearing seat, and a clutch. The turning gear motor and the bearing seat are fixed on the crushing hopper, and the output shaft of the turning gear motor passes through the bearing seat and is connected to the clutch and the turning gear. The turning gear meshes with the driving gear, and the clutch can control the turning gear motor and the turning gear to engage or disengage.

3. The crusher welding repair system according to claim 2, characterized in that: the turning gear motor includes one of a stepping motor or a servo motor, and the clutch includes one of an electromagnetic clutch, a magnetic powder clutch, a friction clutch, or a hydraulic clutch.

4. The crusher welding repair system according to claim 1, characterized in that: the crusher welding repair system further includes a protection mechanism, the protection mechanism including a gantry, a protection door, a front protection plate, and a lifting driving member. The gantry is fixed between the crushing mechanism and the welding mechanism. The front protection plate is fixed on the upper half of the gantry. The lifting driving member is fixed on the gantry and is connected to the protection door. The protection door is connected to the gantry and rises or falls along the gantry under the drive of the lifting driving member.

5. The crusher welding repair system according to claim 4, characterized in that: the protection mechanism further includes side protection plates located on both sides of the front protection plate. The side protection plates are fixed on the crushing hopper and are fixedly connected to the gantry.

6. The crusher welding repair system according to claim 4, characterized in that: the welding mechanism includes a robotic arm, an end fixture, a welding torch, and an image acquisition device. The end fixture is fixed at the end of the robotic arm for the welding torch and the image acquisition device to be installed and fixed. The robotic arm is fixed under the gantry and can drive the welding torch and the image acquisition device to extend into the crushing hopper after the protection door rises.

7. The crusher welding repair system according to claim 6, characterized in that: the image acquisition device includes a protective cover, a lidar, and a camera. The lidar and the camera are fixed inside the protective cover, and the protective cover is fixed on the end fixture.

8. A crusher welding repair method, It is characterized in that The crusher welding repair method comprises: The staff issues welding repair instructions through the remote control mechanism; The protection mechanism opens the protection door in response to the welding repair instruction; The welding mechanism extends into the crushing bucket to perform roller tooth detection and roller tooth welding operations in response to the protection mechanism opening the protection door; The turning mechanism drives the roller shaft to rotate intermittently in response to the welding mechanism performing roller tooth detection.

9. The crusher welding repair method according to claim 8, It is characterized in that In the step where the welding mechanism extends into the crushing bucket to perform roller tooth detection and roller tooth repair operations in response to the protection mechanism opening the protection door, the following steps are further included: Check whether the roller teeth on the roller shaft are abnormal; Record and store the information of abnormal roller teeth detected; Calculate the amount of material added and generate a welding repair path based on the information of abnormal roll teeth and the information of preset roll tooth size; The abnormal roll teeth are repaired according to the welding repair path.

10. The crusher welding repair method according to claim 9, It is characterized in that In the step of detecting whether the roller teeth on the roller shaft are abnormal, the method further comprises: Detect the point cloud data and plane data of all roller teeth in sequence; Perform data fusion on the detected roller tooth point cloud data and plane data and establish a three-dimensional model of the roller shaft; Calculate the size data of the corresponding roller teeth according to the coordinate information of the point cloud data of each roller tooth; The dimension data of each roll tooth is compared with the preset roll tooth dimension data in turn to detect abnormal roll teeth.

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