Full-automatic laying machine for scraper chain

Abstract

The invention belongs to the technical field of scraper chain laying, and provides a full-automatic scraper chain laying machine which comprises a scraper chain conveyor. The scraper feeding mechanical arm is used for mounting a scraper on the chain; the pressing plate feeding assembly comprises a pressing plate feeding mechanical arm, a pressing plate initial assembling table and a pressing plate overturning table. The nut feeding assembly comprises a nut vibration disc and a second electric sliding rail, and the second electric sliding rail drives the control base to move along a path intersecting with the conveying direction of the chain. A nut fastening assembly; by arranging the scraper chain conveyor, the scraper feeding mechanical arm, the pressing plate feeding assembly, the nut feeding assembly, the nut fastening assembly and the visual device, laying automation of most of scraper chains is achieved, existing pure manual assembly and installation are replaced, and by means of the scraper feeding mechanical arm, the pressing plate feeding mechanical arm and the visual system, the production efficiency is improved. Assembling of a scraper, a pressing plate and a bolt is achieved, transmission paving of a chain is achieved through stepping traction, and automatic tightening of a nut is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of scraper chain laying, and specifically relates to a fully automatic scraper chain laying machine. Background Art

[0002] During the installation of the scraper and the chain, it is usually manually installed. The laying of a single scraper chain requires multiple workers to cooperate, involving repetitive operations such as scraper handling, bolt installation, and nut tightening. It consumes a large amount of physical strength and has low efficiency. There are also many safety problems during the installation process, such as accidental injuries to workers during the installation process.

[0003] In the prior art, there is a lack of automated equipment for the full-process assembly of the scraper chain. Although there are some vibrating bowl feeders or simple robotic arm auxiliary devices, a complete automated system has not been formed, and it is difficult to achieve unmanned operation for the full process from scraper feeding to nut tightening.

[0004] Therefore, those skilled in the art have proposed a fully automatic scraper chain laying machine to solve the problems raised in the background art. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a fully automatic scraper chain laying machine to solve the problem that in the prior art, there is a lack of automated equipment for the full-process assembly of the scraper chain. Although there are some vibrating bowl feeders or simple robotic arm auxiliary devices, a complete automated system has not been formed.

[0006] The fully automatic scraper chain laying machine includes:

[0007] A scraper chain conveyor, the chain outlet of which is provided with an assembly table, and the scraper chain conveyor continuously transports the chain;

[0008] A scraper loading robotic arm, which is arranged on one side of the assembly table, and the working end thereof is provided with a scraper clamping assembly, and the scraper loading robotic arm installs the scraper on the chain;

[0009] A pressing plate loading assembly, including:

[0010] A pressing plate loading robotic arm, which is arranged on the other side of the assembly table, and the working end thereof is integrated with a bolt clamping assembly, a pressing plate adsorption assembly and a pressing plate flipping assembly for grasping the pressing plate and the bolts output by the bolt vibrating bowl;

[0011] A preliminary pressing plate installation table, which is arranged on one side of the pressing plate loading robotic arm;

[0012] A pressing plate flipping table, which moves along a path perpendicular to the chain transmission direction through a first electric slide rail. The pressing plate flipping table is provided with a lifting mechanism, and the lifting mechanism receives the pressing plate flipped by the pressing plate loading robotic arm and drives the pressing plate to lift, so that the bolts of the pressing plate are inserted into the screw holes of the scraper;

[0013] Nut feeding assembly, including:

[0014] Nut vibrating bowl, arranged under the assembly table;

[0015] The second electric slide rail drives the control seat to move along a path intersecting the chain transmission direction. A hydraulic cylinder and a second electromagnetic device are arranged at the bottom of the control seat. The nut feeding assembly adsorbs the nut and positions it into the nut groove of the scraper.

[0016] Nut tightening assembly, including a lifting frame, an electric push rod and a nut tightening machine, for tightening the positioned nut.

[0017] Preferably, the scraper clamping assembly includes a driving box, a traction rod, a slider, a clamping plate, a limiting rod and a driven rod. The working end of the scraper loading robotic arm is connected with a mounting frame. A driving box is arranged on the inner wall of the mounting frame. Two groups of driven rods are symmetrically installed through the inner wall of the driving box. A motor is installed inside the driving box. The motor controls the two groups of driven rods to rotate symmetrically through a gear set. A limiting rod is fixedly installed on the inner wall of the mounting frame. Two groups of sliders are symmetrically slidably installed on the periphery of the limiting rod. A traction rod is hinged between the slider and the driven rod. The bottom surface of the slider is fixedly connected with the clamping plate.

[0018] Preferably, the bolt clamping assembly includes a driving seat and clamping claws. Two groups of first telescopic motors are installed in the inner cavity of the driving seat. Clamping claws are installed at the telescopic ends of the first telescopic motors.

[0019] Preferably, the pressing plate adsorption assembly includes a first electromagnetic device. The quantity and position of the first electromagnetic device correspond to the pressing plate screw holes.

[0020] Preferably, the pressing plate flipping assembly includes a first clamping plate, an extension seat, a second telescopic motor and a second clamping plate. The working end of the pressing plate loading robotic arm is fixed with a first clamping plate and an extension seat. A second telescopic motor is installed on the surface of the extension seat. The second telescopic motor controls the second clamping plate to slide along the extension seat.

[0021] Preferably, the lifting assembly includes a lifting table and a lifting motor. The lifting motor is installed on the inner wall of the pressing plate flipping table. The lifting table is installed on the upper surface of the pressing plate flipping table. The telescopic end of the lifting motor penetrates the upper surface of the pressing plate flipping table, and the telescopic end of the lifting motor is connected with the bottom surface of the lifting table.

[0022] Preferably, a distance sensor is installed on the surface of the first electric slide rail.

[0023] Preferably, the scraper chain conveyor includes a sprocket and a driving motor.

[0024] Preferably, it further includes a vision device, which includes a vision sensor and an image processor. The vision device is respectively installed at the working ends of the scraper feeding robotic arm and the pressing plate feeding robotic arm. The vision device identifies the assembly position coordinates of the scraper and the pressing plate for identifying the assembly position.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] By setting up a scraper chain conveyor, a scraper feeding robotic arm, a pressing plate feeding assembly, a nut feeding assembly, a nut tightening assembly and a vision device, the present invention realizes the automation of most of the scraper chain laying, replacing the existing pure manual assembly and installation. Through the scraper feeding robotic arm, the pressing plate feeding robotic arm and the vision system, the assembly of the scraper, the pressing plate and the bolt is realized. Through the step-by-step traction, the transmission and paving of the chain are realized. Through the electric tightening device, the automatic tightening of the nut is realized. Description of the Drawings

[0027] Figure 1 is the overall structural schematic diagram of the present invention;

[0028] Figure 2 is the three-dimensional structural schematic diagram of the scraper feeding robotic arm;

[0029] Figure 3 is the three-dimensional structural schematic diagram of the scraper clamping assembly;

[0030] Figure 4 is the first three-dimensional structural schematic diagram of the pressing plate feeding robotic arm;

[0031] Figure 5 is Figure 4 the partial enlarged view of part A in

[0032] Figure 6 is the second three-dimensional structural schematic diagram of the pressing plate feeding robotic arm;

[0033] Figure 7 is Figure 6 the partial enlarged view of part B in

[0034] Figure 8 is Figure 1 the partial enlarged view of part C in

[0035] Figure 9 is the chain transmission schematic diagram;

[0036] Figure 10 is the schematic diagram of the vision device principle.

[0037] In the figure:

[0038] 1. Scraper feeding manipulator; 101. Mounting frame; 2. Press plate feeding manipulator; 3. Bolt vibrating bowl; 4. Nut fastening assembly; 401. Lifting frame; 402. Electric push rod; 403. Nut tightening machine; 5. Scraper chain conveyor; 501. Assembly table; 6. Scraper clamping assembly; 601. Drive box; 602. Traction rod; 603. Slide block; 604. Clamping plate; 605. Limit rod; 606. Driven rod; 11. Bolt clamping assembly; 1101. Drive seat; 1102. Clamping claw; 12. Press plate adsorption assembly; 1201. First electromagnetic device; 13. Press plate flipping assembly; 1301. First clamping plate; 1302. Extension seat; 1303. Second telescopic motor; 1304. Second clamping plate; 23. Chain; 34. Press plate flipping table; 36. Lifting table; 37. Lifting motor; 38. Press plate initial installation table; 39. First electric slide rail; 41. Vision device; 52. Nut vibrating bowl; 53. Second electric slide rail; 54. Control seat; 55. Hydraulic cylinder; 56. Second electromagnetic device; 57. Distance sensor. Detailed implementation manners

[0039] The following further describes in detail the implementation manners of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0040] Embodiment: As shown in the appended Figure 1 to the appended Figure 10 figures: The present invention provides a fully automatic scraper chain laying machine, including a scraper chain conveyor 5, a scraper feeding manipulator 1, a press plate feeding assembly, a nut feeding assembly, a nut fastening assembly 4 and a vision device 41;

[0041] As shown in the appended Figure 1 figures: An assembly table 501 is provided at the chain outlet of the scraper chain conveyor 5. The scraper chain conveyor 5 includes a sprocket and a driving motor, and the scraper chain conveyor 5 continuously transports the chain 23;

[0042] As shown in the appended Figure 1 and the appended Figure 2 figures: The scraper feeding manipulator 1 is arranged on one side of the assembly table 501, and a scraper clamping assembly 6 is provided at its working end. The scraper feeding manipulator 1 installs the scraper on the chain 23;

[0043] As shown in the appended Figure 1 figures: The press plate feeding assembly includes a press plate feeding manipulator 2, a press plate initial installation table 38 and a press plate flipping table 34. Both the scraper feeding manipulator 1 and the press plate feeding manipulator 2 are five-axis manipulators;

[0044] As shown in the appended Figures 4 - 7As shown: the platen feeding robot arm 2 is arranged on the other side of the assembly table 501, and its working end is integrated with a bolt clamping assembly 11, a platen adsorption assembly 12 and a platen flip assembly 13, which are used to grab the bolts output by the platen and the bolt vibration plate 3. The working end of the platen feeding robot arm 2 is installed with a connecting plate, and three groups of fixing rods are fixed in a circular array around the connecting plate. The three groups of fixing rods are respectively installed with the bolt clamping assembly 11, the platen adsorption assembly 12 and the platen flip assembly 13;

[0045] The platen initial installation platform 38 is arranged on one side of the platen loading robot arm 2. The platen initial installation platform 38 is used to place the initial platen position, so as to facilitate the subsequent placement of bolts and then flip it to the platen flipping platform 34;

[0046] The plate flipping platform 34 moves along a path perpendicular to the transmission direction of the chain 23 through the first electric slide rail 39. A distance sensor 57 is installed on the surface of the first electric slide rail 39. The plate flipping platform 34 is provided with a lifting mechanism. The lifting mechanism receives the plate after the plate loading robot arm 2 flips over, and drives the plate to lift, so that the bolts of the plate are inserted into the screw holes of the scraper.

[0047] As attached Figure 1 and attached Figure 8 As shown: the nut feeding assembly includes a nut vibrating plate 52 and a second electric slide rail 53; the nut vibrating plate 52 is arranged below the assembly table 501; the second electric slide rail 53 drives the control seat 54 to move along a path intersecting the transmission direction of the chain 23, and a hydraulic cylinder 55 and a second electromagnetic device 56 are arranged at the bottom of the control seat 54, and the nut feeding assembly absorbs the nut and positions it to the scraper nut groove;

[0048] As attached Figure 1 and attached Figure 9 As shown: the nut tightening assembly 4 includes a lifting frame 401, an electric push rod 402 and a nut tightening machine 403. The nut tightening machine 403 adopts a commonly used model on the market. The nut size is smaller than the scraper nut slot and is used to tighten the positioned nut; after the pressure plate and the scraper are pre-installed, the chain 23 is pulled by the chain 23 to move the assembly to the bottom of the nut feeding assembly and the nut tightening assembly 4 in sequence;

[0049] The visual device 41 includes a visual sensor and an image processor. The visual sensors all use conventional optical lenses. The visual device 41 is respectively installed at the working ends of the scraper loading robot arm 1 and the pressure plate loading robot arm 2. The visual device 41 identifies the assembly position coordinates of the scraper and the pressure plate for identifying the assembly position.

[0050] As attached Figure 3As shown in the figure: The scraper clamping assembly 6 includes a drive box 601, a traction rod 602, a slider 603, a clamping plate 604, a limit rod 605 and a driven rod 606. The working end of the scraper loading robotic arm 1 is connected with a mounting bracket 101. The inner wall of the mounting bracket 101 is provided with a drive box 601. Two groups of driven rods 606 are symmetrically installed through the inner wall of the drive box 601. A motor is installed inside the drive box 601. The motor controls the two groups of driven rods 606 to rotate symmetrically through a gear set. Driven gears are installed on the circumferences of the driven rods 606, and a driving gear is installed at the output end of the motor. The driving gear meshes with the two groups of driven gears at the same time. The inner wall of the mounting bracket 101 is fixedly installed with a limit rod 605. Two groups of sliders 603 are symmetrically slidably installed on the circumference of the limit rod 605. A traction rod 602 is hinged between the slider 603 and the driven rod 606. The bottom surface of the slider 603 is fixedly connected with a clamping plate 604. By driving the driving gear to rotate by the motor, the two groups of driven rods 606 are driven to rotate simultaneously. By rotating the traction rod 602 and cooperating with the slider 603, the slider 603 slides along the limit rod 605, realizing the adjustment of the clamping distance of the clamping plate 604. When the clamping plate 604 is closed, the drive box 601 moves upward without movement interference. Since there is a vacant groove position under the scraper, the size of the clamping plate 604 can just be inserted into the bottom from the groove position. The two groups of clamping plates 604 are closed, and the scraper can be stably lifted to complete the clamping of the scraper. After grasping, the scraper loading robotic arm 1 transports it to the surface position of the chain 23 above the first electric slide rail 39. The clamping plate 604 is opened from the bottom of the scraper to put down the scraper, and the two chain grooves on the bottom surface of the scraper are attached to the two groups of chains 23.

[0051] As shown in the attached Figure 5 figure: The bolt clamping assembly 11 includes a drive seat 1101 and a clamping claw 1102. The number of drive seats 1101 is also three groups. Two groups of first telescopic motors are installed in the inner cavity of the drive seat 1101, and clamping claws 1102 are installed at the telescopic ends of the first telescopic motors. By moving the bolt clamping assembly 11 to the bolt vibrating outlet, three bolts can be clamped at the same time.

[0052] As shown in the attached Figure 5 figure: The pressing plate adsorption assembly 12 includes a first electromagnetic device 1201. The number and position of the first electromagnetic devices 1201 correspond to the pressing plate screw holes. First, through the pressing plate adsorption assembly 12, the pressing plate is adsorbed by electromagnetic force and placed upright on the pressing plate initial installation table 38. Then, by moving the bolt clamping assembly 11 to the bolt vibrating outlet, three bolts can be clamped at the same time, and the three bolts are simultaneously dropped into the pressing plate screw holes.

[0053] As shown in the attached Figure 7As shown in the figure: The pressing plate flipping assembly 13 includes a first clamping plate 1301, an extension base 1302, a second telescopic motor 1303, and a second clamping plate 1304; the working end of the pressing plate loading robotic arm 2 is fixed with the first clamping plate 1301 and the extension base 1302, the second telescopic motor 1303 is installed on the surface of the extension base 1302, and the second telescopic motor 1303 controls the second clamping plate 1304 to slide along the extension base 1302; the pressing plate flipping assembly 13 grabs and flips the pressing plate assembled with bolts, and the bottom plate on the pressing plate flipping assembly 13 is exactly aligned with the placement positions of the three bolts to prevent the three bolts from falling to the ground during the flipping process.

[0054] The lifting assembly includes a lifting platform 36 and a lifting motor 37. The lifting motor 37 is installed on the inner wall of the pressing plate flipping platform 34. The lifting platform 36 is installed on the upper surface of the pressing plate flipping platform 34. The telescopic end of the lifting motor 37 penetrates the upper surface of the pressing plate flipping platform 34, and the telescopic end of the lifting motor 37 is connected to the bottom surface of the lifting platform 36.

[0055] As can be seen from the above, the driving motor of the scraper chain conveyor 5 drives the sprocket 26 to rotate, and the chain 23 is transmitted in a step-by-step traction manner. The surface of the chain is provided with a positioning groove to ensure the precise alignment of the scraper and the chain. The scraper loading robotic arm 1 captures the initial position of the bundled scrapers through the camera of the vision device 41. The image processor extracts the feature points of the scraper groove and generates three-dimensional coordinates. The robotic arm control system plans the optimal path; subsequently, the motor of the scraper clamping assembly 6 drives the gear set, so that the symmetrically arranged driven rods 606 rotate synchronously, and the slider 603 is pushed along the limiting rod 605 through the traction rod 602, driving the clamping plate 604 to close and clamp the scraper groove. The robotic arm transfers the scraper to the initial installation position 33 of the scraper on the chain 23, and the clamping plate 604 opens to release the scraper, completing the precise installation of the scraper.

[0056] The pressing plate loading robotic arm 2 adsorbs the pressing plate through the first electromagnetic device 1201 of the pressing plate adsorption assembly 12 and transfers it to the pressing plate initial installation table 38; the bolt vibrating disk 3 arranges the disordered bolts to the designated position 18. The clamping claws 1102 of the bolt clamping assembly 11 are driven by the first telescopic motor to close, grab the bolts and transfer them above the bolt holes 31 of the pressing plate. Through the secondary positioning and calibration of the vision device 42, it is ensured that the bolts are vertically inserted into the holes; subsequently, the first clamping plate 1301 and the second clamping plate 1304 of the pressing plate flipping assembly 13 clamp the pressing plate, and the second telescopic motor 1303 drives the second clamping plate 1304 to slide along the extension base 1302, driving the pressing plate to flip 180°, and place it on the pressing plate flipping platform 34. The first electric slide rail 39 drives the flipping platform to move along the direction perpendicular to the chain transmission direction. The distance sensor 57 detects the path obstacles in real time to ensure safe movement to directly below the scraper; the lifting motor 37 drives the lifting platform 36 to lift the pressing plate. The surface of the lifting platform is provided with guide posts, which form a plug-in fit with the scraper bolt holes 29, so that the three bolts of the pressing plate are precisely inserted into the scraper bolt holes to complete the pre-installation.

[0057] Subsequently, the chain 23 transfers the assembly to the nut feeding station under the traction of the sprocket. The second electric slide rail 53 drives the control seat 54 to move above the nut vibrating bowl 52. The hydraulic cylinder 55 descends to make the second electromagnetic device 56 adsorb the nut. The control seat 54 moves above the scraper nut groove, and the hydraulic cylinder 55 descends for the second time to release the nut. After the electromagnetic device is powered off, the nut falls into the groove. The chain continues to traction the assembly to below the nut tightening system 4. The electric push rod 402 drives the nut tightening machine 403 to press down. The tightening machine is equipped with a torque sensor inside, which real-time detects the tightening torque and automatically stops after reaching the set value to ensure the consistency of nut tightening.

[0058] Through the cooperation of the robotic arm with visual positioning, the precise movement of the electric slide rail, and the automated assembly system, this device realizes the unmanned operation of the entire process of scraper chain laying, significantly improving efficiency and reducing labor costs. The visual device and sensors ensure that the positioning error of bolts and nuts is less than ±0.5 mm, improving the assembly accuracy and stability. The modular design facilitates maintenance and adaptation to different specifications of components. At the same time, mechanical limits and automated control eliminate potential safety hazards in manual operations, making it suitable for the high-intensity assembly requirements of heavy equipment such as mines and coal mines.

[0059] The usage steps of this device are as follows:

[0060] 1. Automatic feeding of the scraper

[0061] Step 1.1: Scraper positioning and grasping. The scraper feeding robotic arm 1 identifies the initial position of the bundled scrapers through the visual device 41. The visual sensor collects the scraper images, generates coordinate data through the image processor, and feeds it back to the robotic arm control system. The motor in the drive box 601 drives the two groups of driven rods 606 to rotate symmetrically through the gear set, drives the traction rod 602 to push the slider 603 to slide along the limiting rod 605, and closes the clamping plate 604 to clamp the scraper groove.

[0062] Step 1.2: Install the scraper onto the chain

[0063] The robotic arm transfers the scraper to the initial installation position of the scraper on the chain 23. The clamping plate 604 opens to release the scraper, and the scraper is fixed on the surface of the chain.

[0064] 2. Pre-assembly and flipping positioning of the pressing plate

[0065] Step 2.1: Adsorption of the pressing plate and assembly of bolts

[0066] The pressing plate feeding robotic arm 2 adsorbs the pressing plate through the first electromagnetic device 1201 of the pressing plate adsorption component 12 and transfers it to the initial installation table 38 of the pressing plate.

[0067] The clamping claws 1102 of the bolt clamping component 11 grab the bolts output by the bolt vibrating bowl 3 and insert them into the three bolt holes of the pressing plate.

[0068] Step 2.2: Press Plate Flipping and Transferring

[0069] The first clamping plate 1301 and the second clamping plate 1304 of the press plate flipping assembly 13 clamp the press plate, and the second telescopic motor 1303 drives the second clamping plate 1304 to slide along the extension base 1302, driving the press plate to flip 180° and placing it on the press plate flipping table 34.

[0070] Step 2.3: Press Plate Lifting and Pre - installation

[0071] The first electric slide rail 39 drives the press plate flipping table 34 to move along a path perpendicular to the chain transmission direction, and is positioned directly below the scraper through the distance sensor 57.

[0072] The lifting motor 37 drives the lifting table 36 to lift the press plate, so that the bolts on the press plate are accurately inserted into the screw holes of the scraper.

[0073] 3. Nut Feeding and Tightening

[0074] Step 3.1: Nut Adsorption and Positioning

[0075] The second electric slide rail 53 drives the control seat 54 to move above the nut vibrating disc 52; the hydraulic cylinder 55 descends, and the second electromagnetic device 56 adsorbs the nut. Then the control seat 54 moves above the nut groove of the scraper, and the hydraulic cylinder 55 descends to release the nut into the groove.

[0076] Step 3.2: Automatic Nut Tightening

[0077] The chain 23 pulls the assembly to below the nut tightening assembly 4; the electric push rod 402 drives the nut tightening machine 403 to press down, and performs torque - controlled tightening on the nut, and automatically stops after reaching the set torque.

[0078] 4. Step - by - step Conveyor of Scraper Chain

[0079] The sprocket 26 of the scraper chain conveyor 5 drives the chain 23 to advance intermittently through the stepping motor. After each set of scraper, press plate and nut assembly is completed, the chain moves one station to achieve continuous laying.

[0080] 5. Cooperative Control of Vision System

[0081] As shown in the Figure 10 attachment, the vision device 41 real - time collects images of the scraper, press plate and nut groove, extracts the feature point coordinates through conventional image - processing algorithms, and dynamically adjusts the grasping, flipping and transferring paths of the robotic arm to ensure that the assembly error is less than ±0.5mm.

[0082] Embodiments of the present invention are given for purposes of illustration and description. 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 limitations on 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. Scraper chain fully automatic laying machine, characterized by: include: A scraper chain conveyor (5), the chain outlet of which is provided with an assembly platform (501), and the scraper chain conveyor (5) continuously transmits the chain (23); A scraper loading mechanical arm (1) is arranged on one side of the assembly platform (501), and a scraper clamping assembly (6) is arranged at its working end. The scraper loading mechanical arm (1) installs the scraper on the chain (23); Platen feeding assembly, including: A pressure plate loading mechanical arm (2) is arranged on the other side of the assembly platform (501), and its operating end is integrated with a bolt clamping assembly (11), a pressure plate adsorption assembly (12) and a pressure plate flipping assembly (13), and is used to grab the bolts output by the pressure plate and the bolt vibration plate (3); A pressing plate initial installation platform (38) is arranged on one side of the pressing plate loading mechanical arm (2); The pressure plate turning platform (34) moves along a path perpendicular to the transmission direction of the chain (23) through a first electric slide rail (39), and the pressure plate turning platform (34) is provided with a lifting mechanism, which receives the pressure plate after the pressure plate loading mechanical arm (2) turns over, and drives the pressure plate to lift, so that the bolts of the pressure plate are inserted into the screw holes of the scraper; Nut feeding assembly, including: A nut vibration plate (52) is arranged below the assembly platform (501); A second electric slide rail (53) drives a control seat (54) to move along a path intersecting with the transmission direction of the chain (23); a hydraulic cylinder (55) and a second electromagnetic device (56) are provided at the bottom of the control seat (54); and the nut feeding assembly absorbs the nut and positions it in the scraper nut groove; The nut tightening assembly (4) comprises a lifting frame (401), an electric push rod (402) and a nut tightening machine (403), and is used to tighten the positioned nut.

2. The fully automatic scraper chain laying machine according to claim 1, characterized in that: The scraper clamping assembly (6) comprises a drive box (601), a traction rod (602), a slider (603), a clamping plate (604), a limit rod (605) and a driven rod (606); the working end of the scraper loading mechanical arm (1) is connected to a mounting frame (101); the inner wall of the mounting frame (101) is provided with a drive box (601); the inner wall of the drive box (601) is symmetrically penetrated by two sets of driven rods (606); the drive box A motor is installed inside (601), and the motor controls two groups of driven rods (606) to rotate symmetrically through a gear set. A limit rod (605) is fixedly installed on the inner wall of the mounting frame (101), and two groups of sliders (603) are symmetrically slidably installed around the limit rod (605). A traction rod (602) is hingedly installed between the slider (603) and the driven rod (606), and the bottom surface of the slider (603) is fixedly connected to a clamping plate (604).

3. The fully automatic scraper chain laying machine as claimed in claim 2, characterized in that: The bolt clamping assembly (11) comprises a driving seat (1101) and a clamping claw (1102); two groups of first telescopic motors are installed in the inner cavity of the driving seat (1101); and the clamping claws (1102) are installed at the telescopic ends of the first telescopic motors.

4. The fully automatic scraper chain laying machine as claimed in claim 3, characterized in that: The pressure plate adsorption assembly (12) comprises a first electromagnetic device (1201), and the number and position of the first electromagnetic devices (1201) correspond to the pressure plate screw holes.

5. The fully automatic scraper chain laying machine as claimed in claim 4, characterized in that: The pressure plate flipping assembly (13) includes a first clamping plate (1301), an extension seat (1302), a second telescopic motor (1303), and a second clamping plate (1304); the first clamping plate (1301) and the extension seat (1302) are fixed to the working end of the pressure plate loading robot arm (2), and the second telescopic motor (1303) is installed on the surface of the extension seat (1302), and the second telescopic motor (1303) controls the second clamping plate (1304) to slide along the extension seat (1302).

6. The fully automatic scraper chain laying machine according to claim 1, characterized in that: The lifting assembly comprises a lifting platform (36) and a lifting motor (37); the lifting motor (37) is installed on the inner wall of the pressure plate turning platform (34); the lifting platform (36) is installed on the upper surface of the pressure plate turning platform (34); the telescopic end of the lifting motor (37) passes through the upper surface of the pressure plate turning platform (34); and the telescopic end of the lifting motor (37) is connected to the bottom surface of the lifting platform (36).

7. The fully automatic scraper chain laying machine as claimed in claim 6, characterized in that: A distance sensor (57) is installed on the surface of the first electric slide rail (39).

8. The fully automatic scraper chain laying machine as claimed in claim 1, characterized in that: The scraper chain conveyor (5) comprises a sprocket and a driving motor.

9. The fully automatic scraper chain laying machine according to claim 1, characterized in that: It also includes a visual device (41), which includes a visual sensor and an image processor. The visual device (41) is respectively installed at the working end of the scraper loading robot arm (1) and the pressure plate loading robot arm (2). The visual device (41) identifies the assembly position coordinates of the scraper and the pressure plate for identifying the assembly position.

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