Manipulator for dismounting and mounting hinge pin of mining truck

Abstract

The utility model discloses a mining truck pin shaft disassembling and assembling manipulator which comprises a manipulator large platform, a manipulator working part and a supporting mechanism. The manipulator large platform comprises a fixed vertical plate and a fixed flat plate; the fixed vertical plate is fixed on a fork frame of a forklift; a front-back moving plate is arranged between the front moving guide groove and the front moving guide groove in the top surface of the fixed flat plate; a left-right moving plate is arranged above the front-back moving plate in a sliding mode, a rotation driving seat is fixedly arranged on the top face of the left-right moving plate, and a rotation driving supporting plate is hinged to the rotation driving seat. A rotary drive is fixedly arranged on the rotary drive supporting plate; a manipulator working part is arranged on the rotary drive; and a supporting mechanism is arranged below the fixed flat plate. The device has the advantages that the mining truck pin shaft is disassembled and assembled by adopting a mechanical means, time and labor are saved, and the disassembly and assembly safety is improved.

Description

Technical field:

[0001] The utility model relates to a mining vehicle pin disassembly and assembly manipulator, belonging to mining vehicle maintenance equipment. Background technology:

[0002] The carriage of a mining truck is hinged to the chassis of the mining truck through a pin shaft. The carriage needs to be removed from the chassis for maintenance regularly. The existing method of removing and installing the carriage from the chassis is to manually squat on the rear wheel tire to manually pull out and insert the pin shaft. The weight of the pin shaft is more than 200 kilograms. Manual operation is time-consuming and laborious. At the same time, high-altitude operation poses a safety hazard. Utility model content:

[0003] The utility model aims to provide a mining truck pin shaft disassembling and assembling manipulator, which is a special device for disassembling and assembling the mining truck box pin shaft.

[0004] The utility model is implemented by the following technical scheme: a mining truck pin disassembly and assembly manipulator, which includes a manipulator large platform, a manipulator working part and a supporting mechanism; the manipulator large platform includes a fixed vertical plate and a fixed flat plate; a horizontally arranged fixed flat plate is fixedly arranged on the top of the vertically arranged fixed vertical plate; the fixed vertical plate is fixed on the fork frame of a forklift; two parallel forward guide grooves are arranged on both sides of the top surface of the fixed flat plate, and a horizontally arranged front and rear moving plate is slidably arranged between the forward guide grooves; the cylinder body of the front and rear moving oil cylinder is hinged to the fixed flat plate, and the top end of the piston rod of the front and rear moving oil cylinder is hinged to the top surface of the front and rear moving plate; a left and right moving plate is slidably arranged above the front and rear moving plate, The movable plate is provided with a left and right movable strip hole, and a translation slide is fixedly provided on the bottom surface of the left and right movable plate, and the translation slide is slidably placed in the left and right movable strip hole; a left and right movable plate is provided with a left and right movable oil cylinder fixing strip hole; a left and right movable oil cylinder cylinder seat is fixedly provided on the front and rear movable plates below the left and right movable oil cylinder fixing strip hole; the cylinder body of the left and right movable oil cylinder is hinged on the left and right movable oil cylinder cylinder seat, and the top end of the piston rod of the left and right movable oil cylinder is hinged to the top surface of the left and right movable plate; a slewing drive seat is fixedly provided on the top surface of the left and right movable plate, and a slewing drive supporting plate is hinged on the slewing drive seat; a slewing drive is fixedly provided on the slewing drive supporting plate; the cylinder body of the pitching oil cylinder is hinged to the left and right movable oil cylinder seat The top surface of the movable plate is hinged, and the top end of the piston rod of the pitch cylinder is hinged with the slewing drive support plate; a manipulator working part is provided on the slewing drive; the manipulator working part includes a disassembly and assembly drive part seat plate fixed on the slewing drive and arranged horizontally; a pin support plate is provided on the top surface of the disassembly and assembly drive part seat plate, and push rods are arranged horizontally on both sides of the pin support plate; two parallel guide rods are provided on the disassembly and assembly drive part seat plate below the pin support plate, and a lead screw arranged parallel to the guide rods is provided between the two guide rods, a lead screw guide block is threadedly connected to the lead screw, and the lead screw guide block slides and displaces on the two guide rods; a lead screw hydraulic motor and a lead screw are provided on the disassembly and assembly drive part seat plate A reducer, the output shaft of the screw hydraulic motor is drivingly connected to the input shaft of the screw reducer, and the output shaft of the screw reducer is drivingly connected to the screw through a coupling; a vertically arranged open-closed ring and a horizontally arranged electric push rod are fixed on the screw guide block, the electric push rod is placed on one side of the open-closed ring, the top end of the piston rod of the electric push rod passes through the ring opening of the open-closed ring, and a power head is fixedly provided on the top end of the piston rod of the electric push rod on the other side of the open-closed ring, and a pin shaft pulling-out mechanism is fixedly sleeved on the power head; the pin shaft pulling-out mechanism includes a clamp cylinder, the clamp cylinder is sleeved on the power head, and three clamp hook fixing ears are evenly fixed along the circumference on the outer cylinder wall of the clamp cylinder;A clamp hook is hingedly provided on the three clamp hook fixing ears, and a through slot is opened on the wall from the three clamp hook fixing ears to the clamp cylinder mouth, and the clamp hook is movably placed in the through slot; the hook head at the top of the clamp hook is movably placed in the cylinder mouth of the clamp cylinder; a tension spring is provided between one end of the clamp hook close to the power head and the outer cylinder wall of the clamp cylinder; a pull-out head is movably provided in the cylinder mouth of the clamp cylinder; the pull-out head is fixedly connected to one end of the pin shaft of the mining truck by bolts. ;

[0005] Preferably, a support mechanism is provided under the fixed plate; the support mechanism includes a support rod telescopic oil cylinder, the cylinder body of the support rod telescopic oil cylinder is movably hinged with the fixed plate; a support rod swing oil cylinder is provided on both sides of the support rod telescopic oil cylinder, the cylinder body of the support rod swing oil cylinder is movably hinged with the fixed plate; a slider is hinged at the top end of the piston rod of the support rod telescopic oil cylinder; the slider is slidably placed in the telescopic slide groove of the support rod fixed to the bottom surface of the fixed plate; two pull rods are hinged on the slider, and a live joint is sleeved on the top end of each pull rod, and the live joint slides horizontally and is placed in a guide slide of the support rod fixed to the bottom surface of the fixed plate; one end of the horizontally arranged support rod shaft is movably connected with the live joint; a support rod is fixedly provided at the other end of the support rod shaft; a guide key is provided on the support rod shaft; an inner shaft sleeve is sleeved on the support rod shaft; the inner shaft sleeve is rotatably arranged at the bottom of the fixed plate; a swivel rod is fixed on the inner shaft sleeve; the top ends of the piston rods of the two support rod swing oil cylinders are respectively hinged with the two swivel rods one by one.

[0006] The utility model has the advantages that mechanical means are used to disassemble and assemble the pin shaft of the mining vehicle, which saves time and labor and improves the safety of the disassembly and assembly work. Description of the drawings:

[0007] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0008] Figure 2 It is a bottom view of the utility model.

[0009] Figure 3 It is a schematic diagram of the overall structure of the robot working part 02.

[0010] Figure 4 This is the front view of the robot working part 02.

[0011] Figure 5 for Figure 4 A partial enlarged schematic diagram of part A.

[0012] Manipulator large platform 01, fixed vertical plate 01A, fixed flat plate 01B, support rod telescopic slide 01B1, forward guide groove 102, support rod shaft 103, guide key 104, movable joint 105, pull rod 106, support rod telescopic cylinder 107, slider 108, support rod 109, support rod swing cylinder 111, slewing rod 115, shaft inner sleeve 116, support rod guide slide 117, manipulator working part 02, pin pull-out mechanism 201, fixture cylinder 20101, fixture hook 20102, tension spring 20103, fixture hook fixing ear 20104, lead screw 202, guide rod 203, lead screw guide block 205, pin support plate 206, top rod 2 07, power head 208, pulling head 209, electric push rod 210, opening and closing loop 211, disassembly and assembly drive unit seat plate 212, coupling 215, screw reducer 217, screw hydraulic motor 218, support mechanism 03, left and right moving plate 4, left and right moving cylinder fixed long hole 41, front and back moving plate 5, left and right moving long hole 51, rotary drive support plate 6, rotary drive 7, translation slider 8, pin shaft 9, left and right moving cylinder 10, left and right moving cylinder cylinder seat 10A, front and back moving cylinder 11, rotary drive seat 14A, camera one 91, camera two 92, camera three 93, camera four 94, camera six 96, camera seven 97, camera eight 98. Specific implementation method:

[0013] Example: Figures 1 to 5As shown, the mining truck pin disassembly and assembly robot comprises a robot platform 01, a robot working part 02 and a support mechanism 03; the robot platform 01 comprises a fixed vertical plate 01A and a fixed flat plate 01B; a horizontally arranged fixed flat plate 01B is fixedly arranged on the top of the vertically arranged fixed vertical plate 01A; the fixed vertical plate 01A is fixed on the fork frame of the forklift; two parallel forward guide grooves 102 are arranged on both sides of the top surface of the fixed flat plate 01B, and a horizontally arranged front and rear moving plate 5 is slidably arranged between the forward guide grooves 102; the cylinder body of the front and rear moving oil cylinder 11 is hingedly arranged with the fixed flat plate 01B, and the top end of the piston rod of the front and rear moving oil cylinder 11 is hingedly arranged with the top surface of the front and rear moving plate 5; a left and right moving plate is slidably arranged above the front and rear moving plate 5 Plate 4, a left-right moving long strip hole 51 is opened on the front and rear moving plate 5, a translation slider 8 is fixed on the bottom surface of the left-right moving plate 4, and the translation slider 8 is slidably placed in the left-right moving long strip hole 51; a left-right moving cylinder fixing long strip hole 41 is opened on the left-right moving plate 4; a left-right moving cylinder seat 10A is fixed on the front and rear moving plate 5 below the left-right moving cylinder fixing long strip hole 41; the cylinder body of the left-right moving cylinder 10 is hinged on the left-right moving cylinder seat 10A, and the top end of the piston rod of the left-right moving cylinder 10 is hinged to the top surface of the left-right moving plate 4; a rotary drive seat 14A is fixed on the top surface of the left-right moving plate 4, and a rotary drive support plate 6 is hinged on the rotary drive seat 14A; a rotary drive 7 is fixed on the rotary drive support plate 6 ; The cylinder body of the pitch cylinder 8 is hinged to the top surface of the left and right movable plates 4, and the top end of the piston rod of the pitch cylinder 8 is hinged to the rotary drive 7; a manipulator working part 2 is provided on the rotary drive 7; the manipulator working part 2 includes a disassembly and assembly drive part seat plate 212 fixed to the rotary drive 7 and arranged horizontally; a pin support plate 206 is provided on the top surface of the disassembly and assembly drive part seat plate 212, and push rods 207 are arranged horizontally on both sides of the pin support plate 206; two parallel guide rods 203 are provided on the disassembly and assembly drive part seat plate 212 below the pin support plate 206, and a lead screw 202 arranged parallel to the guide rod 203 is provided between the two guide rods 203, and a lead screw guide block 205 is threadedly connected to the lead screw 202, and the lead screw guide block 205 is threaded between the two guide rods. The electric push rod 210 is actuated to slide and displace on the rod 203; a screw hydraulic motor 218 and a screw reducer 217 are provided on the disassembly and assembly drive unit seat plate 212, the output shaft of the screw hydraulic motor 218 is connected to the input shaft of the screw reducer 217 by transmission, and the output shaft of the screw reducer 217 is connected to the screw 202 by transmission through a coupling 215; a vertically arranged open and closed ring 211 and a horizontally arranged electric push rod 210 are fixedly provided on the screw guide block 205, the electric push rod 210 is placed on one side of the open and closed ring 211, the top end of the piston rod of the electric push rod 210 passes through the ring opening of the open and closed ring 211, and a power head 208 is fixedly provided on the top end of the piston rod of the electric push rod 210 on the other side of the open and closed ring 211, and a pin shaft pulling mechanism 201 is fixedly provided on the power head 208;The pin pull-out mechanism 201 includes a clamp cylinder 20101, which is sleeved on the power head 208. Three clamp hook fixing ears 20104 are evenly fixed along the circumference on the outer wall of the clamp cylinder 20101; a clamp hook 20102 is hingedly provided on the three clamp hook fixing ears 20104, and a through groove is opened on the wall from the three clamp hook fixing ears 20104 to the cylinder mouth of the clamp cylinder 20101, and the clamp hook 20102 is movably placed in the through groove; the hook at the top of the clamp hook 20102 The head is movably placed in the mouth of the clamp cylinder 20101; a tension spring 20103 is provided between one end of the clamp hook 20102 close to the power head 208 and the outer wall of the clamp cylinder 20101; a pull-out head 209 is movably provided in the mouth of the clamp cylinder 20101; the pull-out head 209 is fixedly connected to one end of the mining truck pin 9 by bolts; a support mechanism 03 is provided under the fixed plate 01B; the support mechanism 03 includes a support rod telescopic cylinder 107, and the cylinder body of the support rod telescopic cylinder 107 is connected to the fixed plate 01 B is hinged; support rod swing cylinders 111 are provided on both sides of the support rod telescopic cylinder 107, and the cylinder body of the support rod swing cylinder 111 is hinged with the fixed plate 01B; a slider 108 is hinged at the top of the piston rod of the support rod telescopic cylinder 107; the slider 108 is slidably placed in the support rod telescopic slide groove 01B1 fixed to the bottom surface of the fixed plate 01B; two pull rods 106 are hinged on the slider 108, and a live joint 105 is sleeved on the top of each pull rod 106, and the live joint 105 slides horizontally and is fixed on the fixed plate 0 1B bottom surface of the support rod guide slideway 117; one end of the horizontal support rod shaft 103 is movably connected with the joint 105; the other end of the support rod shaft 103 is fixed with a support rod 109; a guide key 104 is provided on the support rod shaft 103; a shaft inner sleeve 116 is sleeved on the support rod shaft 103; the shaft inner sleeve 116 is rotatably set at the bottom of the fixed plate 01B; a slewing rod 115 is fixed on the shaft inner sleeve 116; the piston rod tops of the two support rod swing cylinders 111 are respectively hinged with the two slewing rods 115 in a one-to-one correspondence. ;

[0014] Camera 1 91 and camera 3 93 are respectively provided on the two top rods 207; a camera lifting rod is provided on the disassembly and assembly drive unit seat plate 212 below the top of the pin support plate 206, and camera 2 92 is provided on the camera lifting rod; camera 1 91, camera 2 92 and camera 3 93 are used to observe the relative position of the pin 9 and the pin hole on the mine car, and camera 2 92 is used to observe the internal situation of the pin hole when it is raised by the camera lifting rod; camera 4 94 is provided on the top of the pin pull-out mechanism 201; it is used to observe the position of the pin 9 and the pin hole on the mine car ; A camera five is provided inside the clamp cylinder 20101; it is used to observe the coaxiality of the clamp cylinder 20101 and the pin shaft 9; a camera six 96 with a lens facing the manipulator working part 02 is provided on the top of the fixed vertical plate 01A; it is used to observe the coaxiality of the pin shaft pulling mechanism 201 and the pin shaft 8 and the overall situation of the manipulator working part 02; a camera seven 97 with a lens facing upward is provided on the left and right movable plates 4; it is used to observe the situation of the manipulator working part 02 from bottom to top; a camera eight 98 is provided on the rotary drive seat 14A; it is used to observe the situation in front of the manipulator working part 02.

[0015] Instructions for use: first adjust the position of each mechanism of the manipulator working part 02: the front and rear moving plates 5 are placed in the middle of the forward guide slot 102; the left and right moving plates 4 are placed on one side of the screw hydraulic motor 218; the pitch angle is 0° horizontally; the rotation angle is 0° or 180° perpendicular to the forward direction; the pin pull-out mechanism 201 is in the middle and rear position; the fixed plate 01B is adjusted to be horizontal; the support rod 109 is rotated and retracted to control the forklift to appropriately raise the manipulator large platform 01 fixed on the fork frame of the forklift, and the distance between the side of the manipulator large platform 01 in the working direction and the outer side of the pin beam is 100 to 200 mm, and the axis of the clamp cylinder 20101 in the front and rear directions should be aligned with the center of the pin 9 as much as possible.

[0016] Pin pull-out: confirm that camera 2 is in the lowered state through the image captured by camera 2 92, and open the pin pull-out mechanism 201. With the help of the camera image, adjust the position of the pin pull-out mechanism 201. Mainly according to the image of camera 4 94, adjust the pin pull-out mechanism 201 to be coaxial with the pin 9 in the vertical direction, according to the image of camera 6 96, adjust the pin pull-out mechanism 201 to be coaxial with the pin 9 in the horizontal direction, and according to the image of camera 5, adjust the pin pull-out mechanism 201 to be concentric and coaxial with the pin 9. During the forward movement of the pin pull-out mechanism 201, it should stop several times to finely adjust the position. When the pin pull-out mechanism 201 approaches the pin 9, move the manipulator working part 2 so that the push rod 207 hits the longitudinal beam of the carriage, continue to move the pin pull-out mechanism 201 forward, and after the pull-out head 209 completely enters the clamp cylinder 20101, close the pin pull-out mechanism 201, and then move the pin pull-out mechanism 201 backward to pull out the pin 9. During the pulling process, continue to observe the position of the pin 9 to avoid excessive pulling force.

[0017] Pin pressing: confirm that camera 2 is in the lowered state through the image taken by camera 2 92, confirm that the front end of pin 9 has been fully retracted, and open the manipulator working part 2. With the help of the camera image, adjust the position of the fixture. Mainly according to the image of camera 4 94, adjust the pin pull-out mechanism 201 to be coaxial with the vertical direction of the pin hole. According to the image of camera 6 96, adjust the pin pull-out mechanism 201 to be coaxial with the horizontal direction of the pin hole. According to the images of camera 1 91, camera 2 92, and camera 3 93, adjust the pin pull-out mechanism 201 to be coaxial and coaxial with the horizontal direction of the pin hole. After preliminary adjustment, raise camera 2 92, observe the internal situation of the pin hole, adjust the coaxiality of the components in the pin hole through an external crane, and then push the pin 9. During the process of the pin 9 advancing, it should stop several times and finely adjust the position. When the front end of the pin 9 approaches the pin hole, rotate the corresponding support rod 109 to between the two wheels of the car, and extend the support rod 109 appropriately to just touch the side of the tire. Continue to push in the pin 9. During the pushing process, continue to observe the position of the pin 9 to avoid excessive pushing force.

Claims

1. Mining truck pin disassembly and assembly robot, characterized in that: It includes a large platform of a manipulator, a working part of a manipulator and a supporting mechanism; the large platform of the manipulator includes a fixed vertical plate and a fixed flat plate; the fixed flat plate arranged horizontally is fixedly arranged on the top of the vertically arranged fixed vertical plate; the fixed vertical plate is fixed on the fork frame of a forklift; two parallel forward guide grooves are arranged on both sides of the top surface of the fixed flat plate, and a horizontally arranged front and rear movable plate is slidably arranged between the forward guide grooves; the cylinder body of the front and rear movable cylinder is hingedly arranged with the fixed flat plate, and the top end of the piston rod of the front and rear movable cylinder is hingedly arranged with the top surface of the front and rear movable plate; a left and right movable plate is slidably arranged above the front and rear movable plate, a long strip hole for left and right movement is opened on the front and rear movable plate, and a translation slider is fixedly arranged on the bottom surface of the left and right movable plate, and the The translation slider is slidably placed in the left and right moving long strip hole; a left and right moving plate is provided with a left and right moving oil cylinder fixing long strip hole; a left and right moving oil cylinder seat is fixedly provided on the front and rear moving plates below the left and right moving oil cylinder fixing long strip hole; the cylinder body of the left and right moving oil cylinder is hinged on the left and right moving oil cylinder seat, and the top end of the piston rod of the left and right moving oil cylinder is hinged to the top surface of the left and right moving plate; a slewing drive seat is fixedly provided on the top surface of the left and right moving plate, and a slewing drive support plate is hinged on the slewing drive seat; a slewing drive is fixedly provided on the slewing drive support plate; the cylinder body of the pitching oil cylinder is hinged to the top surface of the left and right moving plate, and the top end of the piston rod of the pitching oil cylinder is hinged to the slewing drive support plate; a manipulator working is provided on the slewing drive The cam is provided with a pin support plate on the top surface of the cam, and push rods are provided horizontally on both sides of the cam; two parallel guide rods are provided on the cam below the pin support plate, a lead screw parallel to the guide rods is provided between the two guide rods, a lead screw guide block is threadedly connected to the lead screw, and the lead screw guide block slides and moves on the two guide rods; a lead screw hydraulic motor and a lead screw reducer are provided on the cam, the output shaft of the lead screw hydraulic motor is connected to the input shaft of the lead screw reducer, and the output shaft of the lead screw reducer is connected to the lead screw through a coupling Connection; a vertically arranged open-closed ring and a horizontally arranged electric push rod are fixedly provided on the screw guide block, the electric push rod is placed on one side of the open-closed ring, the top end of the piston rod of the electric push rod passes through the ring opening of the open-closed ring, a power head is fixedly provided on the top end of the piston rod of the electric push rod on the other side of the open-closed ring, and a pin shaft pulling-out mechanism is fixedly sleeved on the power head; the pin shaft pulling-out mechanism comprises a clamp cylinder, the clamp cylinder is sleeved on the power head, and three clamp hook fixing ears are evenly fixed along the circumference on the outer cylinder wall of the clamp cylinder; a clamp hook is hingedly provided on the three clamp hook fixing ears, and a through groove is opened on the cylinder wall from the three clamp hook fixing ears to the cylinder opening of the clamp cylinder, and the clamp hook is movably placed in the through groove;The hook head at the top of the clamp hook is movably placed in the tube mouth of the clamp cylinder; a tension spring is provided between one end of the clamp hook close to the power head and the outer tube wall of the clamp cylinder; a pull-out head is movably provided in the tube mouth of the clamp cylinder; the pull-out head is fixedly connected to one end of the pin shaft of the mining truck by bolts. ; 2. The mining truck pin disassembly and assembly robot according to claim 1, characterized in that: A supporting mechanism is provided under the fixed plate; the supporting mechanism includes a support rod telescopic cylinder, the cylinder body of the support rod telescopic cylinder is movably hinged with the fixed plate; support rod swing cylinders are provided on both sides of the support rod telescopic cylinder, the cylinder body of the support rod swing cylinder is movably hinged with the fixed plate; a slider is hinged at the top end of the piston rod of the support rod telescopic cylinder; the slider is slidably placed in the telescopic slide groove of the support rod fixed to the bottom surface of the fixed plate; two pull rods are hinged on the slider, and a live joint is sleeved on the top end of each pull rod, and the live joint slides horizontally in the guide slide of the support rod fixed to the bottom surface of the fixed plate; one end of the horizontally arranged support rod shaft is movably connected with the live joint; a support rod is fixedly provided at the other end of the support rod shaft; a guide key is provided on the support rod shaft; an inner shaft sleeve is sleeved on the support rod shaft; the inner shaft sleeve is rotatably arranged at the bottom of the fixed plate; a swivel rod is fixed on the inner shaft sleeve; the top ends of the piston rods of the two support rod swing cylinders are respectively hinged to the two swivel rods one by one.

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