Multi-degree-of-freedom wheel dismounting device for mine car

Abstract

The present application belongs to the technical field of mining machinery automation, and particularly relates to a multi-degree-of-freedom mine vehicle wheel dismounting device, comprising an AGV vehicle body, a multi-axis mechanical arm, a tire lifting and clamping mechanism and a tire shaft clamping mechanism arranged on the AGV vehicle body; the tire lifting and clamping mechanism is used for fixing a tire; a nut dismounting mechanism for dismounting bolts is arranged at a movable end of the multi-axis mechanical arm; and the tire shaft clamping mechanism is used for clamping a vehicle wheel sleeve. The device has the characteristics of high automation, can replace manual work to complete the dismounting of mine vehicle tires, is simple to operate, short in dismounting time, capable of avoiding causing tire damage and work delay, convenient for manual operation, and can greatly reduce the probability of safety accidents.

Description

Technical Field

[0001] This invention belongs to the field of mining machinery automation technology, and in particular relates to a multi-degree-of-freedom mining vehicle wheel disassembly device. Background Technology

[0002] Advanced mining truck wheel changing devices utilize automation technology, equipped with a tire loader and a high-precision automated robotic arm working in tandem. Currently, existing multi-functional mining truck repair platform systems feature hydraulic lifting, tilting devices, and simple disassembly and assembly mechanisms, aiming to improve the efficiency and safety of mining truck maintenance. By integrating multiple functional modules, this system enables the rapid disassembly and installation of key components such as mining truck tires, hubs, and hub axles, making it suitable for the challenging conditions of confined working spaces and heavy loads in mining areas.

[0003] However, mining truck tires are large, heavy, and compact in structure. The integrated installation structure of the rear dual tires and their positioning sleeves, in particular, is difficult to match with existing general-purpose disassembly tools. Furthermore, the existing disassembly mechanisms have low levels of automation, making maintenance and upgrades relatively difficult. Tire replacement in mining trucks relies heavily on manual labor, resulting in low efficiency and a complex, cumbersome process requiring multiple workers to coordinate. Especially when dealing with the dual tire structure and the sleeve connection area, the operation is difficult, time-consuming, and prone to tire damage and operational delays. Moreover, manual operation under these conditions is more susceptible to fatigue and errors, leading to safety accidents.

[0004] Therefore, there is an urgent need for a multi-degree-of-freedom mining truck wheel disassembly device to solve this problem. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-degree-of-freedom mining truck wheel removal device to solve the above-mentioned problems.

[0006] To achieve the above objectives, the present invention provides the following solution: A multi-degree-of-freedom mining truck wheel removal device includes: The AGV vehicle body and the multi-axis robotic arm, tire lifting and clamping mechanism and tire axle clamping mechanism installed on the AGV vehicle body; The tire lifting and clamping mechanism is used to fix the tire; The movable end of the multi-axis robotic arm is equipped with a nut removal mechanism for removing bolts; The tire axle clamping mechanism is used to clamp the wheel sleeve.

[0007] Optionally, the tire lifting and clamping mechanism includes a first crossbeam, a second crossbeam, a lifting and clamping assembly, and a supporting mechanism; The second crossbeam has a groove for the tire to pass through; The first crossbeam is fixed to the second crossbeam; Both the lifting clamping assembly and the supporting mechanism are disposed between the first crossbeam and the second crossbeam; The supporting mechanism is used to support the bottom of the tire; The fixed end of the lifting clamping assembly is fixed to the AGV vehicle body, and the lifting end of the lifting clamping assembly is fixed to the first crossbeam and the second crossbeam. The clamping end of the lifting clamping assembly is used to clamp both sides of the tire.

[0008] Optionally, the supporting mechanism includes a roller, which is rotatably disposed between the first crossbeam and the second crossbeam, and the roller is disposed at the bottom of the groove.

[0009] Optionally, the lifting clamping assembly includes two symmetrically arranged lifting clamping parts, and the fixed end of the lifting clamping part is fixed to the AGV body.

[0010] Optionally, the lifting and clamping part includes a hydraulic lifting platform, a gripper mounting slider, a tire gripper, and a drive unit; The lifting end of the hydraulic lifting platform is fixed between the first crossbeam and the second crossbeam; the fixed end of the hydraulic lifting platform is fixedly connected to the AGV vehicle body. The middle part of the gripper mounting slider is mounted on the top of the first crossbeam and the second crossbeam and slides in cooperation with the top of the first crossbeam and the second crossbeam. The bottom end of the gripper mounting slider slides in cooperation with the lifting end of the hydraulic lifting platform. The gripper mounting slider is connected to the drive unit, and the drive unit is used to drive the gripper mounting slider to move horizontally; The top end of the gripper mounting slider is hinged to one end of the tire gripper.

[0011] Optionally, the drive unit includes a lead screw and a motor, the output shaft of the motor is connected to the lead screw for transmission, the lead screw is rotatably mounted on the lifting end of the hydraulic lifting platform, and the lead screw is threadedly engaged with the gripper mounting slider.

[0012] The lead screw and the motor are connected by bevel gears to achieve transmission.

[0013] The hydraulic lifting platform includes a lifting platform fixed between the first crossbeam and the second crossbeam, and movable ends of hydraulic telescopic columns fixed at the four corners of the bottom of the lifting platform. The fixed ends of the hydraulic telescopic columns are fixed to the AGV vehicle body.

[0014] Optionally, the tire axle clamping mechanism includes two symmetrically arranged tire axle lifting clamping parts, the fixed end of which is fixed to the AGV body.

[0015] Optionally, the tire axle lifting clamping part includes a wedge-shaped fixing block, the top end of the clamping arm is hinged to the top end of the wedge-shaped fixing block, the top end of the clamping arm is hinged to a chuck, and the clamping arm is drivenly connected to a telescopic part.

[0016] Optionally, the telescopic part includes a telescopic rod, the movable end of which is hinged to the middle of the clamping arm, and the fixed end of which is hinged to the middle of the slope of the wedge-shaped fixing block.

[0017] Optionally, a slide rail is provided on the slope of the wedge-shaped fixing block, and a hinge seat is slidably fitted on the slide rail. The hinge seat is hinged to the fixed end of the telescopic rod. In use, the hinge seat is fixedly set with the slide rail.

[0018] Compared with the prior art, the present invention has the following advantages and technical effects: In operation, the AGV body can be programmed to move its multi-axis robotic arm, tire lifting and clamping mechanism, and tire axle clamping mechanism. The tire lifting and clamping mechanism holds and secures the tire. The multi-axis robotic arm, through its movable end equipped with a nut removal mechanism, separates the nut connecting the wheel hub to the vehicle body. The AGV then moves outward to remove the tire. After removing the tires sequentially from the outside in, the tire axle clamping mechanism holds the tire sleeve, and the AGV moves outward to remove the sleeve. When replacing a tire, the tire lifting and clamping mechanism lifts and holds the tire, and the AGV moves towards the mine car for installation. After all tires are installed, the multi-axis robotic arm tightens the nuts. This device features a high degree of automation, replacing manual tire installation and removal. It is simple to operate, quick to disassemble, and avoids tire damage and operational delays. It is also convenient for manual operation, significantly reducing the probability of accidents. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the tire lifting and clamping mechanism of the present invention; Figure 3 This is a schematic diagram of the tire axle clamping mechanism of the present invention; The components include: 1. AGV body; 2. Multi-axis robotic arm; 3. Tire lifting and clamping mechanism; 4. Tire axle clamping mechanism; 301. Crossbeam 1; 302. Tire gripper; 303. Crossbeam 2; 304. Gripper mounting slider; 305. Hydraulic lifting platform; 306. Motor; 307. Lead screw; 308. Roller; 401. Wedge-shaped fixing block; 402. Clamping arm; 403. Gripper; 404. Telescopic rod; 405. Slide rail; 406. Hinge seat. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Reference Figures 1 to 3 This invention discloses a multi-degree-of-freedom mining truck wheel disassembly device, comprising: AGV body 1 and multi-axis robotic arm 2, tire lifting and clamping mechanism 3 and tire axle clamping mechanism 4 installed on AGV body 1; Tire lifting and clamping mechanism 3 is used to fix the tire; The movable end of the multi-axis robotic arm 2 is equipped with a nut removal mechanism for removing bolts; The tire axle clamping mechanism 4 is used to clamp the wheel sleeve.

[0023] In use, the AGV body 1 can be programmed to move its multi-axis robotic arm 2, tire lifting and clamping mechanism 3, and tire axle clamping mechanism 4. The tire is held in place by the tire lifting and clamping mechanism 3. The multi-axis robotic arm 2, with its movable end equipped with a nut removal mechanism, separates the nut connecting the wheel hub to the vehicle body. The AGV body 1 then moves outward to remove the tire. After removing the tires sequentially from the outside in, the tire axle clamping mechanism 4 holds the tire sleeve, and the AGV body 1 moves outward to remove the sleeve. When replacing a new tire, the tire lifting and clamping mechanism 3 lifts and holds the tire, and the AGV body 1 moves towards the mine car body for installation. After all tires are installed, the multi-axis robotic arm 2 tightens the nuts. This device features a high degree of automation, capable of replacing manual labor in the installation and removal of mine car tires. It is simple to operate, has a short disassembly time, avoids tire damage and operational delays, and is convenient for manual operation, significantly reducing the probability of safety accidents.

[0024] This device, in conjunction with an AGV operating platform system, achieves automated movement and multiple functions including automatic tire clamping, precise separation, and safe handling. During disassembly, the AGV operating platform carries the tire, sleeve gripper module, and nut disassembly robotic arm module. The AGV automatically guides the vehicle to the appropriate disassembly position. Then, the tire gripper holds the tire, and the robotic arm assists the worker in tire disassembly. After the outer tire is removed, the sleeve between the inner and outer tires is disassembled. The sleeve disassembly robotic arm clamps and separates the sleeve, and finally, the previously repeated disassembly operations are performed to remove the inner tube.

[0025] As an optional implementation, the tire lifting and clamping mechanism 3 includes a first crossbeam 301, a second crossbeam 303, a lifting and clamping assembly, and a support mechanism. The crossbeam 2 303 has a groove for the tire to pass through; Crossbeam 1 (301) is fixed to crossbeam 2 (303); Both the lifting clamping assembly and the supporting mechanism are located between crossbeam 301 and crossbeam 303. The support mechanism is used to support the bottom of the tire; The fixed end of the lifting clamping assembly is fixed to the AGV body 1, and the lifting end of the lifting clamping assembly is fixed to the crossbeam 1 301 and the crossbeam 2 303. The clamping end of the lifting clamping assembly is used to clamp both sides of the tire.

[0026] In use, the groove on the second crossbeam 303 makes it easy for the AGV body 1 to move over the tire, so that after the tire comes into contact with the first crossbeam 301, the first crossbeam 301 plays a good limiting role for the tire. At this time, the height of the first crossbeam 301 and the second crossbeam 303 relative to the tire is adjusted by the lifting clamping assembly, so that the supporting mechanism is supported on the bottom of the tire, and then the clamping end of the lifting clamping assembly clamps on both sides of the tire.

[0027] As an optional implementation, the support mechanism includes a roller 308, which is rotatably disposed between a first crossbeam 301 and a second crossbeam 303, and the roller 308 is disposed at the bottom of the groove.

[0028] As an optional implementation, the lifting clamping assembly includes two symmetrically arranged lifting clamping parts, the fixed ends of which are fixed to the AGV body 1.

[0029] As an optional implementation, the lifting clamping unit includes a hydraulic lifting platform 305, a gripper mounting slider 304, a tire gripper 302, and a drive unit; The lifting end of the hydraulic lifting platform 305 is fixed between the first crossbeam 301 and the second crossbeam 303; the fixed end of the hydraulic lifting platform 305 is fixedly connected to the AGV body 1. The middle part of the gripper mounting slider 304 is mounted on the top of the first crossbeam 301 and the second crossbeam 303 and slides in cooperation with the top of the first crossbeam 301 and the second crossbeam 303. The bottom end of the gripper mounting slider 304 slides in cooperation with the lifting end of the hydraulic lifting platform 305. The gripper mounting slider 304 is connected to the drive unit for transmission, and the drive unit is used to drive the gripper mounting slider 304 to move horizontally. The top of the gripper mounting slider 304 is hinged to one end of the tire gripper 302.

[0030] As an optional implementation, the drive unit includes a lead screw 307 and a motor 306. The output shaft of the motor 306 is connected to the lead screw 307 for transmission. The lead screw 307 is rotatably mounted on the lifting end of the hydraulic lifting platform 305. The lead screw 307 is threadedly engaged with the gripper mounting slider 304.

[0031] The lead screw 307 and the motor 306 achieve transmission through bevel gears.

[0032] The hydraulic lifting platform 305 includes a lifting platform fixed between crossbeam 1 301 and crossbeam 2 303, and movable ends of hydraulic telescopic columns fixed at the four corners of the bottom of the lifting platform. The fixed ends of the hydraulic telescopic columns are fixed to the AGV vehicle body 1.

[0033] When clamping the tire, the height is adjusted to match the tire position by the hydraulic telescopic columns at the four corners of the bottom of the lifting platform. The lead screw 307 and the motor 306 are driven by bevel gears. When the lead screw 307 rotates, the claw mounting slider 304 slides relative to the lifting platform of the hydraulic lifting platform 305 under the action of the thread, which drives the tire claw 302 to approach the tire. The tire claw 302 and the claw mounting slider 304 are hinged to automatically fit the tire contour. As the lead screw 307 rotates, the two tire claws 302 firmly hold the tire in the middle. At this time, the AGV body 1 moves away from the mine car, the tire is removed, and then the hydraulic telescopic columns are reset, and the tire height decreases.

[0034] When replacing a new tire, the tire clamp 302 clamps and fixes the two sides of the new tire. The height of the lifting platform is adjusted by the hydraulic telescopic column to make the height of the new tire appropriate. The AGV body 1 moves closer to the mine car body to complete the installation.

[0035] As an optional implementation, the tire axle clamping mechanism 4 includes two symmetrically arranged tire axle lifting clamping parts, the fixed end of which is fixed to the AGV body 1.

[0036] As an optional implementation, the tire axle lifting clamping part includes a wedge-shaped fixing block 401, the top end of the clamping arm 402 is hinged to the top end of the wedge-shaped fixing block 401, the top end of the clamping arm 402 is hinged to the clamping head 403, and the clamping arm 402 is drivenly connected to a telescopic part.

[0037] As an optional implementation, the telescopic part includes a telescopic rod 404, the movable end of which is hinged to the middle of the clamping arm 402, and the fixed end of which is hinged to the middle of the slope of the wedge-shaped fixing block 401.

[0038] As an optional implementation, a slide rail 405 is provided on the slope of the wedge-shaped fixing block 401, and a hinge seat 406 is slidably fitted on the slide rail 405. The hinge seat 406 is hinged to the fixed end of the telescopic rod 404. In use, the hinge seat 406 and the slide rail 405 are fixedly set.

[0039] In the tire sleeve disassembly and assembly process, after the tire is removed, the movable end of the telescopic rod 404 extends and retracts, and the clamping arm 402 rotates relative to the wedge-shaped fixing block 401. At this time, the chuck 403 will clamp on both sides of the sleeve. The chuck 403 has an arc-shaped design and can automatically conform to the sleeve contour.

[0040] In use, the hinge seat 406 and the slide rail 405 are fixedly installed. The fixing method can be bolt fixing, limit pin limiting fixing, etc.

[0041] The purpose of setting the hinge seat 406 and the slide rail 405 to a sliding form is to allow the relative position of the hinge seat 406 and the slide rail 405 to be manually adjusted according to the change of sleeve specifications, thereby adjusting the clamping range of the chuck 403 and achieving adaptation to sleeves of different specifications.

[0042] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "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 accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0043] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A multi-degree-of-freedom mining truck wheel disassembly device, characterized in that, include: AGV vehicle body (1) and multi-axis robotic arm (2), tire lifting and clamping mechanism (3) and tire axle clamping mechanism (4) mounted on the AGV vehicle body (1); The tire lifting and clamping mechanism (3) is used to fix the tire; The movable end of the multi-axis robotic arm (2) is provided with a nut removal mechanism for removing bolts; The tire axle clamping mechanism (4) is used to clamp the wheel sleeve.

2. The multi-degree-of-freedom mining truck wheel disassembly device according to claim 1, characterized in that, The tire lifting and clamping mechanism (3) includes a first crossbeam (301), a second crossbeam (303), a lifting and clamping assembly, and a supporting mechanism; The second crossbeam (303) has a groove for the tire to pass through; The first crossbeam (301) and the second crossbeam (303) are fixed; The lifting clamping assembly and the supporting mechanism are both disposed between the first crossbeam (301) and the second crossbeam (303); The supporting mechanism is used to support the bottom of the tire; The fixed end of the lifting clamping assembly is fixed to the AGV vehicle body (1), and the lifting end of the lifting clamping assembly is fixed to the first crossbeam (301) and the second crossbeam (303). The clamping end of the lifting clamping assembly is used to clamp both sides of the tire.

3. The multi-degree-of-freedom mining car wheel disassembly device according to claim 2, characterized in that: The supporting mechanism includes a roller (308), which is rotatably disposed between the first crossbeam (301) and the second crossbeam (303), and the roller (308) is disposed at the bottom of the groove.

4. The multi-degree-of-freedom mining car wheel disassembly device according to claim 2, characterized in that: The lifting clamping assembly includes two symmetrically arranged lifting clamping parts, and the fixed end of the lifting clamping part is fixed to the AGV vehicle body (1).

5. The multi-degree-of-freedom mining car wheel disassembly device according to claim 4, characterized in that: The lifting and clamping unit includes a hydraulic lifting platform (305), a gripper mounting slider (304), a tire gripper (302), and a drive unit; The lifting end of the hydraulic lifting platform (305) is fixed between the first crossbeam (301) and the second crossbeam (303); the fixed end of the hydraulic lifting platform (305) is fixedly connected to the AGV vehicle body (1). The middle part of the gripper mounting slider (304) is mounted on the top of the first crossbeam (301) and the second crossbeam (303) and slides in cooperation with the top of the first crossbeam (301) and the second crossbeam (303). The bottom end of the gripper mounting slider (304) slides in cooperation with the lifting end of the hydraulic lifting platform (305). The gripper mounting slider (304) is connected to the drive unit, and the drive unit is used to drive the gripper mounting slider (304) to move horizontally; The top end of the gripper mounting slider (304) is hinged to one end of the tire gripper (302).

6. The multi-degree-of-freedom mining car wheel disassembly device according to claim 5, characterized in that: The drive unit includes a lead screw (307) and a motor (306). The output shaft of the motor (306) is connected to the lead screw (307) for transmission. The lead screw (307) is rotatably mounted on the lifting end of the hydraulic lifting platform (305). The lead screw (307) is threadedly engaged with the gripper mounting slider (304).

7. The multi-degree-of-freedom mining car wheel disassembly device according to claim 1, characterized in that: The tire axle clamping mechanism (4) includes two symmetrically arranged tire axle lifting clamping parts, and the fixed end of the tire axle lifting clamping part is fixed to the AGV vehicle body (1).

8. A multi-degree-of-freedom mining truck wheel disassembly device according to claim 7, characterized in that: The tire axle lifting clamping part includes a wedge-shaped fixing block (401), the top end of which is hinged to the bottom end of a clamping arm (402), the top end of which is hinged to a chuck (403), and the clamping arm (402) is connected to a telescopic part.

9. A multi-degree-of-freedom mining car wheel disassembly device according to claim 8, characterized in that: The telescopic part includes a telescopic rod (404), the movable end of which is hinged to the middle of the clamping arm (402), and the fixed end of which is hinged to the middle of the slope of the wedge-shaped fixing block (401).

10. A multi-degree-of-freedom mining truck wheel disassembly device according to claim 9, characterized in that: The wedge-shaped fixing block (401) has a slide rail (405) on its slope surface. A hinge seat (406) is slidably fitted on the slide rail (405). The hinge seat (406) is hinged to the fixed end of the telescopic rod (404). In use, the hinge seat (406) is fixedly set with the slide rail (405).

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