Hydraulic support articulated shaft assembling device and method

Abstract

The invention discloses a hydraulic support articulated shaft assembling device and method, and relates to the technical field of hydraulic support assembling. The supporting frame provided with the shaft is lifted in the air through the chain lifting mechanism, and the coordinate position is automatically locked through vision; if the automatic condition is not met, a worker can carry out regulation and control through the handheld terminal; after the hinged shaft reaches the coordinate position, the hinged hole is accurately moved through the transplanting mechanism, and shaft hole alignment is achieved; automatic shaft pushing is achieved through an electric cylinder mechanism; when a problem occurs, a worker can take the diagonal bridging lifting platform to carry out manual intervention; the device has the beneficial effects that the intelligent cantilever lifting device is adopted, an electric hoist is used for replacing a worker arm to grab a hinge shaft, an existing intelligent lifting appliance is used, the labor intensity of workers is relieved, and the working efficiency is improved; and meanwhile, through intelligent equipment, all-directional hoisting of the parts is achieved, the whole cantilever crane is loaded on the movable AGV, and the working range of grabbing and assembling of the hinge shafts is widened.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic support assembly, and in particular to a hydraulic support hinge shaft assembly device and method. Background Art

[0002] The assembly of the hinge shaft is a process of first aligning the holes of the hydraulic support body A (hereinafter referred to as the body A) and the assembly part B (hereinafter referred to as the part B), and then pushing the hinge shaft into the aligned holes. Currently, the assembly of the hinge shaft of the hydraulic support mainly relies on manual operation. First, the hinge shaft is inserted into the hinge hole of the body A on the ground. In this process, the worker needs to manually carry the hinge shaft to the assembly position, align the hinge hole, and then push it in by his own strength. At this time, the hinge shaft is stuck on the body A, and then it is moved to the assembly position. Subsequently, a lifting device is used to lift the hydraulic support part B to be assembled. After keeping it stable, it is moved to align the holes and install the shaft with the main body A. Since the assembly position of some hinge shafts is relatively high, the worker needs to stand at a high place (on the adjacent hydraulic support) to align the holes and push the shaft. In this process, the part is heavy and complex in shape, and the worker needs to repeatedly align the holes, observe, command, and adjust; after the hinge holes are initially aligned, the assembly worker needs to use tools such as crowbars to finely adjust the components. This process may require coordinating with the lifting device to ensure that the hinge holes are completely aligned; the worker uses his own strength to push the hinge shaft completely in; finally, fasteners such as bolts and nuts are used to fix it to complete the assembly.

[0003] Objective drawbacks of the prior art: 1. The labor intensity is relatively large during the entire assembly process: The hinge shaft is relatively heavy, and the assembly process requires the worker to manually pick up, carry, align the holes, and push in the parts, consuming a lot of physical strength and energy of the worker. At the same time, during the assembly of the hinge shaft, multiple workers such as the lifting equipment worker and the assembly worker are required to cooperate, increasing the cost; 2. There are certain safety risks in the assembly: First, the hinge shaft is relatively heavy, and there is a risk of dropping and injuring during the process of the worker picking up and carrying it; at the same time, after the hinge shaft is initially installed, the assembly main body needs to be lifted and moved, and there is also a risk of dropping and injuring during this process; in addition, the assembly process requires the worker to work at height and requires coordinating the traveling crane for cooperation, and there are also risks such as falling from height, being injured, and colliding for the personnel during this process; 3. The assembly process is complex: During the alignment process of the hinge shaft assembly, the worker cannot directly see whether the hinge holes are aligned, and can only rely on experience and whether there is resistance during the process of pushing in the hinge shaft to judge whether it is aligned, and needs to use tools such as crowbars for fine adjustment, which is time-consuming and laborious; the present invention can enable the worker to clearly see the alignment state of the hinge holes through a CCD camera and achieve automatic alignment through visual positioning. Summary of the Invention

[0004] The purpose of the present invention is to provide a hydraulic support hinge shaft assembly device and method to solve the above problems.

[0005] The present invention realizes the above object through the following technical solutions: A hydraulic support hinge shaft assembly device includes a load AGV, on which a vertical frame is installed. On one side of the vertical frame, an intelligent cantilever crane installed on the load AGV is provided, and on the other side of the vertical frame, a scissor lift table installed on the load AGV is provided; an electric hoist for lifting is installed on the intelligent cantilever crane, and a magnetic adsorption device for grasping the hinge shaft is installed on the mobile end of the electric hoist; a tray is arranged on the scissor lift table; a hinge shaft support frame and a hinge lifting mechanism are arranged on the vertical frame, and the hinge shaft support frame is driven to move up and down by the hinge lifting mechanism; an electric cylinder push rod is installed inside the hinge shaft support frame.

[0006] Preferably: The magnetic adsorption device is an electromagnet.

[0007] Preferably: A transplanting mechanism is arranged between the hinge shaft support frame and the vertical frame, and the transplanting mechanism includes an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism.

[0008] Preferably: Both the X-axis moving mechanism and the Y-axis moving mechanism are realized by screw rod transmission, and the Z-axis moving mechanism is realized by chain transmission.

[0009] Preferably: A vision positioning system for visually positioning the hinge hole is installed on the hinge shaft support frame.

[0010] Preferably: The vision positioning system includes a CCD camera.

[0011] A hydraulic support hinge shaft assembly method uses the above assembly device, and specifically includes the following steps: Step S1: Grasp the hinge shaft through the intelligent cantilever crane. The intelligent cantilever crane is equipped with an electric hoist, adsorb the hinge shaft magnetically and move it to the position of the hinge shaft support frame; Step S2: Lift the hinge shaft support frame into the air through the chain lifting mechanism, use the CCD camera to visually position the hinge hole of the hydraulic support body, calculate the coordinates and send them to the load AGV, and the load AGV moves to roughly align with the hinge hole; the CCD camera real-time collects the image of the hinge hole and transmits it to the worker's handheld terminal for remote monitoring and adjustment; Step S3: Precise positioning of the hinge shaft support frame is carried out through the transplanting mechanism, where the Z-axis movement is realized by chain transmission, and the X-axis and Y-axis movements are realized by screw rod transmission; Step S4: Push the hinge shaft into the hinge hole by using the electric cylinder push rod, and a disc with a buffer rubber pad is provided at the front end of the electric cylinder push rod; Step S5: When the automatic adjustment fails, the worker intervenes manually through the scissor lift table; Step S6: After the assembly is completed, the mechanism resets and the above steps are executed cyclically.

[0012] Preferably, the intelligent cantilever crane is installed on the load AGV, can rotate 360° and is suitable for lifting articulated shafts of different sizes.

[0013] Preferably, the X, Y, and Z axis movement accuracy error of the transplanting mechanism is less than ±0.5 mm.

[0014] Preferably, the thrust range of the electric cylinder push rod is 100 - 500 N, and the disc diameter can be adapted to articulated shafts of different hole diameters.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. An intelligent cantilever crane device is adopted. The electric hoist is used to grab the articulated shaft instead of the worker's arm, and the existing intelligent lifting tool is utilized to liberate the labor intensity of workers and improve work efficiency. At the same time, through intelligent devices, all-round lifting of parts is realized, and the overall load of the cantilever crane is on the mobile AGV, expanding the working range of grabbing and assembling the articulated shaft. 2. Automatic hole alignment is achieved. The digital and intelligent technologies are fully utilized, and artificial intelligence and data positioning technologies are brought into play. By taking high-definition photos, the position state between the assembled parts is automatically identified, and the coordinate position is sent to relevant equipment for precise "positioning". At the same time, the video is sent to the worker's handheld terminal, and the worker can view the alignment situation of the articulated holes in real time on the ground. While strengthening the informatization and intelligent upgrading of traditional manufacturing equipment, the risk of workers working at heights is avoided. 3. Automatic movement and automatic assembly means are promoted. The traditional mechanical equipment such as motors, lead screws, and electric cylinders are integrated with digital means such as PLC. The assembly mechanism is promoted to receive coordinate data in real time and automatically transplant to the designated position according to the coordinates, promoting the shaft installation method. Workers can intervene and adjust the equipment through the handheld terminal to ensure the accuracy of the movement process and the feasibility of the method. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a flow block diagram of a method for assembling the articulated shaft of a hydraulic support according to the present invention.

[0018] Figure 2 It is a front view of an articulated shaft assembly device of a hydraulic support according to the present invention.

[0019] Figure 3 It is a schematic three-dimensional structure diagram of an articulated shaft assembly device for a hydraulic support according to the present invention.

[0020] Figure 4 It is a schematic three-dimensional structure diagram of another perspective of an articulated shaft assembly device for a hydraulic support according to the present invention.

[0021] The description of the reference numerals is as follows: 1. Intelligent cantilever crane; 2. Electric hoist; 3. Articulated shaft support frame; 4. Chain lifting mechanism; 5. CCD camera; 6. Load AGV; 7. Transplanter mechanism; 8. Upright frame; 9. Scissor lift table; 10. Tray. Specific embodiments

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0024] The present invention will be further described below with reference to the drawings: As Figures 2 - 4As shown in the figure, a hydraulic support articulated shaft assembly device includes a load AGV6, on which an upright frame 8 is installed. On one side of the upright frame 8, an intelligent cantilever crane 1 installed on the load AGV6 is provided. The intelligent cantilever crane 1 is used to lift the articulated shaft. On the other side of the upright frame 8, a scissors lift table 9 installed on the load AGV6 is provided; a tray 10 is arranged on the scissors lift table 9; an electric hoist 2 for lifting is installed on the intelligent cantilever crane 1, and a magnetic adsorption device for grasping the articulated shaft is installed on the mobile end of the electric hoist 2; the magnetic adsorption device is an electromagnet; an articulated shaft support frame 3 and a hinge lifting mechanism are arranged on the upright frame 8, and the articulated shaft support frame 3 is driven to move up and down by the hinge lifting mechanism; an electric cylinder push rod is installed inside the articulated shaft support frame 3.

[0025] A transplanting mechanism 7 is arranged between the articulated shaft support frame 3 and the upright frame 8. The transplanting mechanism 7 includes an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism; both the X-axis moving mechanism and the Y-axis moving mechanism are realized by screw drive, and the Z-axis moving mechanism is realized by chain drive.

[0026] A vision positioning system for visually positioning the articulated hole is installed on the articulated shaft support frame 3; the vision positioning system includes a CCD camera 5; the CCD camera 5 collects the image of the articulated hole in real time and transmits it to the worker's handheld terminal for remote monitoring and adjustment.

[0027] As Figure 1 shown, this embodiment also provides a method for assembling the articulated shaft of a hydraulic support. Using the above-mentioned assembly device, it specifically includes the following steps: Step S1: The intelligent cantilever crane 1 reduces the labor intensity of workers grasping the articulated shaft. Workers use the magnetic force of the magnetic adsorption device of the electric hoist 2 to suck the articulated shaft, and after grasping, move it to the position of the articulated shaft support frame 3 and put it into the articulated shaft support frame 3. The intelligent cantilever crane 1 can rotate 360° in all directions and meet the lifting and lowering. At the same time, the arc of the electric hoist 2 adapts to various sizes of articulated shafts and can flexibly meet various assembly requirements; Step S2: The lifting mechanism lifts the articulated shaft support frame 3 into the air. Through the CCD camera 5, the articulated hole of the assembled body is photographed and positioned, and the coordinate calculation is carried out through the background, and the relevant information is sent to the load AGV6. The load AGV6 moves according to the information, so that the articulated shaft support frame 3 is roughly aligned with the articulated hole. If the gap is large, the load AGV6 can be changed to manual control for preliminary movement; in addition, the coordinate relationship between the articulated hole of the assembled body and the articulated hole of the assembled part will also be calculated and the information will be sent to the lifting equipment to facilitate the lifting equipment to move the assembled part for hole alignment. This hole alignment process can be sent to the worker's handheld terminal in real time through the CCD camera 5. Workers can view the hole alignment status and facilitate manual intervention at the same time; the CCD camera 5 collects the image of the articulated hole in real time and transmits it to the worker's handheld terminal for remote monitoring and adjustment; Step S3: After the preliminary positioning by the load AGV6, the transplanting mechanism 7 behind the articulated shaft support frame 3 accurately aligns the articulated shaft support frame 3 with the articulated hole, realizes the precise movement of the Z-axis (up and down) through the chain drive mode, and realizes the precise movement of the X-axis (left and right) and Y-axis (front and back) through the lead screw drive mode; Step S4: When the articulated shaft support frame 3 is aligned and close to the articulated hole of the assembly body, the articulated shaft in the support frame is pushed into the articulated hole by the electric cylinder push rod to complete the assembly. The front end of the electric cylinder push rod is a disc, and the surface of the disc is provided with a buffer rubber pad to avoid damage to the parts during the pushing process, and the disc size meets the sizes of all articulated shafts; Step S5: When performing the high-altitude shaft installation task, if there are special circumstances that cause the shaft installation mechanism to be unable to align or the shaft pushing problem and cannot be adjusted and processed through the handheld terminal, the worker can ride on the scissor lift 9 and perform the regulation near the articulated hole; Step S6: After the articulated shaft is pushed into the hole, the entire mechanism can actively avoid and withdraw, and the articulated shaft support frame 3 of the lifting mechanism descends to the designated position, and the above actions will be repeated.

[0028] Among them, the movement accuracy error of the X, Y, and Z axes of the transplanting mechanism 7 is less than ±0.5 mm; the thrust range of the electric cylinder push rod is 100 - 500 N, and the disc diameter can adapt to the articulated shafts with different hole diameters.

[0029] This optimized method for assembling the articulated shaft of the hydraulic support, especially provides a safer and more efficient assembling means for assembling the articulated shaft at a higher position. Compared with the traditional situation of manually carrying the articulated shaft for assembly work, the intelligent cantilever crane 1 device is adopted, and the electric hoist 2 is used to grab the parts instead of the worker's arm, reducing the labor intensity of the worker's manual picking, and it is set on the moving AGV to make its working range wider; at the same time, aiming at the inconvenient situation of manual hole alignment, visual positioning is adopted, and through CCD camera scanning, the position state between the assembled bodies is automatically identified, and the coordinate position is sent to the relevant equipment for precise "positioning". While strengthening the hole alignment accuracy, the level of the assembly process is promoted. In addition, the video can be transmitted to the worker's handheld terminal in real time through the CCD camera 5 to view the alignment situation of the articulated hole in real time to ensure accurate alignment and has high reliability; in addition, aiming at the problem of unsafe high-altitude operation of workers, by means of devices such as motors, chains, and guide rails, mechanisms for automatically lifting, transplanting, and pushing the articulated shaft are designed. At the same time, with the help of CCD cameras, the workers can complete the assembly work on the ground, avoiding the safety risks existing in high-altitude operation.

[0030] In addition, during the structural design process, the electric hoist 2 can be grabbed to adapt to products of different size types and has high versatility; the part support frame of the shaft pushing mechanism is designed according to the maximum size of the assembled parts and can meet the placement of all current articulated shafts; the rest of the transplanting and lifting mechanisms are all universal.

[0031] In summary, compared with the traditional assembly method of the articulated shaft of the hydraulic support, the method of this patent is more convenient, can effectively improve the operation efficiency, reduce the safety risk during the assembly process, effectively reduce the enterprise cost, and enhance the enterprise image.

[0032] The intelligent cantilever crane 1, electric hoist 2, articulated shaft support frame 3, chain lifting mechanism 4, CCD camera 5, load AGV 6, transplanting mechanism 7, vertical frame 8, scissor lift table 9, and tray 10 are all general standard parts or components known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or obtained through conventional experimental methods, so no more detailed description will be given here.

[0033] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A hydraulic support articulated shaft assembly device, characterized in that: The invention comprises a load AGV (6), wherein a stand (8) is installed on the load AGV (6), an intelligent cantilever crane (1) installed on the load AGV (6) is arranged on one side of the stand (8), and a scissor lift platform (9) installed on the load AGV (6) is arranged on the other side of the stand (8); an electric hoist (2) for lifting is installed on the intelligent cantilever crane (1), and a magnetic adsorption device for grabbing an articulated shaft is installed on the mobile end of the electric hoist (2); a tray (10) is arranged on the scissor lift platform (9); an articulated shaft support frame (3) and a hinge lifting mechanism (4) are arranged on the stand (8), and the articulated shaft support frame (3) is driven to move up and down by the hinge lifting mechanism (4); and an electric cylinder push rod is installed inside the articulated shaft support frame (3).

2. The assembly device according to claim 1, characterized in that: The magnetic adsorption device is an electromagnet.

3. The assembly device according to claim 1, characterized in that: A transplanting mechanism (7) is arranged between the hinged shaft support frame (3) and the vertical frame (8), and the transplanting mechanism (7) comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism.

4. The assembly device according to claim 3, characterized in that: The X-axis moving mechanism and the Y-axis moving mechanism are both realized by screw drive, and the Z-axis moving mechanism is realized by chain drive.

5. The assembly device according to claim 1, characterized in that: The hinge shaft support frame (3) is provided with a visual positioning system for visually positioning the hinge hole.

6. The assembly device according to claim 5, characterized in that: The visual positioning system comprises a CCD camera (5).

7. A method for assembling a hinged shaft of a hydraulic support, characterized in that: Using the assembly device according to any one of claims 1 to 6 specifically comprises the following steps: Step S1: grab the articulated shaft by using the intelligent cantilever crane (1), the intelligent cantilever crane is equipped with an electric hoist (2), and uses magnetic force to absorb the articulated shaft and move it to the position of the articulated shaft support frame (3); Step S2: The hinged shaft support frame (3) is lifted into the air by the chain lifting mechanism (4), and the hinged hole of the hydraulic support body is visually positioned by the CCD camera (5). The coordinates are calculated and sent to the load AGV (6), and the load AGV (6) moves to roughly align the hinged hole; the CCD camera (5) collects the image of the hinged hole in real time and transmits it to the worker's handheld terminal for remote monitoring and adjustment; Step S3: accurately positioning the articulated shaft support frame (3) by means of a transplanting mechanism (7), wherein the Z-axis movement is achieved by chain transmission, and the X-axis and Y-axis movement are achieved by screw transmission; Step S4: using an electric cylinder push rod to push the hinge shaft into the hinge hole, a disc with a buffer rubber pad is provided at the front end of the electric cylinder push rod; Step S5: When the automatic adjustment fails, the worker performs manual intervention through the scissor lift table (9); Step S6: After the assembly is completed, the mechanism is reset and the above steps are executed cyclically.

8. The assembly method according to claim 7, characterized in that: The intelligent cantilever crane (1) is installed on the load AGV (6), can rotate 360 ​​degrees and is suitable for lifting articulated shafts of different sizes.

9. The assembly method according to claim 7, characterized in that: The X, Y and Z three-axis movement accuracy error of the transplanting mechanism (7) is less than ±0.5 mm.

10. The assembly method according to claim 7, characterized in that: The thrust range of the electric cylinder push rod is 100-500N, and the diameter of the disc can be adapted to articulated shafts with different apertures.

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