Non-stop carrier roller replacement robot for belt conveyor

Abstract

The utility model relates to the technical field of carrier roller replacement of belt conveyors, in particular to a non-stop carrier roller replacement robot for a belt conveyor, which comprises a truss arranged above the belt conveyor. The walking driving unit is movably connected to the truss; the telescopic disengagement suspension unit is connected to the walking driving unit; the walking driving unit drives the telescopic disengagement suspension unit to a preset position; the enclasping and lifting unit is arranged on the second suspension of the telescopic separation suspension unit; and the supporting unit is arranged on the second suspension of the telescopic separation suspension unit, and the supporting unit is matched with a rack of the conveying belt. After the structure is adopted, the conveyor belt has the beneficial effects that the abrasion to the conveyor belt caused by frequent starting and stopping is reduced, the service life of the conveyor belt is prolonged, and huge advantages are brought to material transportation; time waste caused by starting and stopping the conveyor is avoided, meanwhile, the operation stability of the conveying belt is improved, and the cost is low.

Description

Technical Field

[0001] The utility model belongs to the technical field of belt conveyor roller replacement, in particular to a belt conveyor roller replacement robot without stopping the machine. Background Art

[0002] As the main equipment for coal transportation, the belt conveyor's operation stability and reliability directly determine the efficiency and economy of coal material transportation. Rollers are the key structure supporting the belt conveyor and the core component of the belt conveyor. There are a large number of rollers, especially in long-distance belt conveyors. Rollers are the load-bearing mechanical components of the belt conveyor. They bear the oblique force of the material on the rollers. The force is relatively complex and they are fragile parts. Once a failure occurs, it is very easy to cause the conveyor belt to deviate, wear more, or even catch fire, which seriously affects the reliability of coal material transportation. At present, most coal mines adopt the mode of manual roller replacement, but due to the large number of rollers, manual roller replacement is time-consuming and labor-intensive, which is not only extremely inefficient but also dangerous. In addition, it is impossible to replace rollers without stopping the belt conveyor, which will cause certain economic losses.

[0003] In coal transportation and production, conveyor belts are widely used. How to transport coal safely and reliably determines the production and transportation efficiency of coal mines. The conveyor belts have long transportation distances and a large number of rollers. How to ensure the normal operation of the rollers is the core issue of belt conveyors. Moreover, damage to the rollers can also lead to various accidents such as conveyor belt deviation and fire, causing serious economic losses, and at the same time posing a great hidden danger to the safety of personnel and mechanical equipment.

[0004] At present, Liaoning University of Engineering and Technology has developed a roller replacement robot (publication number CN114473425A), which consists of a walking mechanism, an adjustment platform, a support belt platform, a front manipulator, a rear manipulator, a hydraulic control system, and an electrical control system. The robot walks on the walking track set on the side of the conveyor truss, and the support belt platform is formed by three hydraulic cylinders, and the roller replacement is completed by the manipulator; however, this roller replacement robot still has some problems. The crawler-like structure occupies a large space, cannot walk freely in the lane, and has a large overall size. Utility Model Content

[0005] In order to solve the above problems in the prior art, the utility model provides a robot for replacing rollers of a belt conveyor without stopping the machine. The robot is easy to operate, occupies less space and has strong practicality.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] As one aspect of the utility model, a robot for replacing rollers of a belt conveyor without stopping the machine is proposed, which comprises:

[0008] A truss installed above the belt conveyor;

[0009] A travel drive unit, movably connected to the truss;

[0010] The telescopic detachable suspension unit is connected to the travel drive unit; the travel drive unit drives the telescopic detachable suspension unit to a preset position; the telescopic detachable suspension unit comprises a first suspension component, a second suspension and a movable locking component, the first suspension component is connected to the travel drive unit; the second suspension is connected to or separated from the first suspension through the movable locking component;

[0011] The holding and lifting unit is arranged on the second suspension of the telescopic detachable suspension unit; the holding and lifting unit lifts a part of the conveyor belt on the belt conveyor located at the stop position of the travel drive unit, so that the part of the conveyor belt on the belt conveyor located at the stop position of the travel drive unit is separated from the conveying roller;

[0012] A roller changing manipulator is arranged on the second suspension of the telescopic detachable suspension unit; the roller changing manipulator replaces the conveying roller under the part of the conveyor belt lifted by the holding and lifting unit;

[0013] It also includes a support unit, which is arranged on the second suspension of the telescopic detached suspension unit, and the support unit cooperates with the frame of the conveyor belt; the support unit is used to support the second suspension after being detached from the first suspension, so that the second suspension can be stably placed above the belt conveyor.

[0014] Optionally, the movable locking assembly comprises a first lifting cylinder arranged on the first suspension, a locking beam is connected between the movable ends of the first lifting cylinder, the middle part of the locking beam is a cavity or a through groove, and locking holes are respectively opened at both ends of the locking beam, and the locking holes are connected to the cavity or the through groove;

[0015] It also includes a locking support frame connected to the second suspension; first limit blocks are respectively connected to both sides of the locking support frame, and the first limit blocks are adapted to the cavity or the through slot, that is, the first limit blocks can be separated from or matched with the cavity or the through slot; a locking column matched with the corresponding locking hole is movably connected to the first limit block; the end of the locking column away from the locking hole is connected to the movable end of the first telescopic cylinder arranged on the locking support frame.

[0016] Optionally, a first guide unit is provided between the second suspension and the first suspension, and the first guide unit includes a first guide sleeve provided on the first suspension and a first guide column provided on the second suspension and movably connected to the corresponding first guide sleeve.

[0017] Optionally, the device further comprises a first roller storage unit for storing new conveying rollers, wherein the first roller storage unit is arranged on the second suspension of the telescopic detachable suspension unit.

[0018] Optionally, a second roller storage unit is further included for storing replaced conveying rollers, and the second roller storage unit is arranged on the second suspension of the telescopic detachable suspension unit.

[0019] Optionally, the clamping and lifting unit includes a clamping connection seat, the clamping connection seat is connected to a second lifting cylinder, and the movable end of the second lifting cylinder is connected to the second suspension through a clamping fixed seat; the left and right sides of the clamping connection seat are respectively rotatably connected to lifting arms, and the two lifting arms are symmetrically arranged around the center of the clamping connection seat; each lifting arm is rotatably connected to a support roller away from the second air-drop cylinder; each lifting arm is rotatably connected to a support half-roller away from the second air-drop cylinder, and the support half-roller is located on the side of the corresponding support roller;

[0020] The left and right sides of the clamping connection seat are respectively provided with second telescopic cylinders, the fixed end of each second telescopic cylinder is rotatably connected to the clamping connection seat, and the movable end of each second telescopic cylinder is connected to the corresponding lifting arm.

[0021] Optionally, the included angle of the two support rollers is the same as the included angle of two adjacent conveying rollers on the left and right in the belt conveyor, and the two opposing support half rollers are arranged horizontally.

[0022] Optionally, the support unit includes a support member, a connecting rod mechanism and a connecting rod driving unit, and the support member is movably connected to the second suspension through the connecting rod mechanism; the fixed end of the connecting rod driving unit is movably connected to the second suspension through a support seat, and the movable end of the connecting rod driving unit is movably connected to the connecting rod mechanism. Through the cooperation of the connecting rod driving unit and the connecting rod mechanism, the support member is coordinated with the frame of the belt conveyor. In the working state, the support member is perpendicular to the frame of the belt conveyor.

[0023] Optionally, the support member includes a support body, the bottom of the support body is provided with a connection groove matched with a frame of the belt conveyor, the top of the support body is provided with a first connection hole, and the support body is provided with a second connection hole near the first connection hole;

[0024] The connecting rod mechanism includes a first connecting rod assembly and a second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly are respectively located on both sides of the support member; the structure of the second connecting rod assembly is symmetrical to the structure of the first connecting rod assembly; the first connecting rod assembly includes a first connecting rod member, a second connecting rod member, a third connecting rod member, a fourth connecting rod member, a fifth connecting rod member and a sixth connecting rod member,

[0025] The first connecting rod is provided with a third connecting hole, a fourth connecting hole, a fifth connecting hole and a sixth connecting hole at intervals, the third connecting hole, the fourth connecting hole and the fifth connecting hole are on the same straight line, and the sixth connecting hole is located above the fifth connecting hole;

[0026] The fourth connecting rod is provided with a seventh connecting hole, an eighth connecting hole and a ninth connecting hole, and the centers of the seventh connecting hole, the eighth connecting hole and the ninth connecting hole are sequentially connected to form a triangle;

[0027] The third connecting hole of the first connecting rod is rotatably connected to one end of the second connecting rod through a first rotating shaft, and the first rotating shaft is rotatably connected to the second suspension; the first connecting rod is located outside the second connecting rod; the other end of the first connecting rod is rotatably connected to the seventh connecting hole through a second rotating shaft;

[0028] One end of the third connecting rod is rotatably connected to the fourth connecting hole via a third rotating shaft, and the other end of the third connecting rod is rotatably connected to the ninth connecting hole via a fourth rotating shaft;

[0029] One end of the fifth connecting rod is rotatably connected to the eighth connecting hole via a fifth rotating shaft; the other end of the fifth connecting rod is rotatably connected to one end of the sixth connecting rod via a sixth rotating shaft, and the sixth rotating shaft is rotatably connected to the second connecting hole; the other end of the sixth connecting rod is rotatably connected to the fifth connecting hole via a seventh rotating shaft;

[0030] The connecting rod driving unit comprises a first driving cylinder, a second driving cylinder, a third driving cylinder and a fourth driving cylinder, wherein the fixed end of the first driving cylinder is rotatably connected to the support seat or the second suspension, the movable end of the first driving cylinder is rotatably connected to the sixth connecting hole of the first connecting rod assembly, the fixed end of the second driving cylinder is rotatably connected to the support seat or the second suspension, and the movable end of the second driving cylinder is rotatably connected to the sixth connecting hole of the second connecting rod assembly; the fixed end of the third driving cylinder is rotatably connected to the support seat or the second suspension, and the movable end of the third driving cylinder is rotatably connected to the first connecting hole; the fixed end of the fourth driving cylinder is rotatably connected to the support seat or the second suspension, and the movable end of the fourth driving cylinder is rotatably connected to the two fourth rotating shafts;

[0031] The first driving cylinder and the second driving cylinder are used for lifting and lowering the support; the third driving cylinder is used for adjusting the vertical state of the support and the frame; the fourth driving cylinder is used for adjusting the opening angle of the support so that it can match the frame.

[0032] As an option, the first link member, the second link member, the third link member and the fourth link member cooperate to form a parallelogram structure.

[0033] The utility model discloses a belt conveyor robot for replacing rollers without stopping, and its beneficial effects are specifically embodied in: 1. The method of replacing rollers without stopping replaces the method of stopping to remove rollers, thereby reducing the wear on the conveyor belt caused by frequent starting and stopping, extending the service life of the conveyor belt, and bringing great advantages to material transportation; avoiding the loss of objects caused by overall imbalance due to starting and stopping of the conveyor, making the conveying process smoother; avoiding the time waste caused by starting and stopping the conveyor, and also improving the smoothness of the conveyor belt operation with lower cost.

[0034] 2. The design of telescopic detachable suspension unit can make the travel drive unit and truss not be affected by the lateral force generated by the belt conveyor when changing rollers, which can extend the service life of the travel drive unit and truss;

[0035] 3. The design of the support unit ensures good stability during the roller changing process.

[0036] 4. The design of the connecting rod mechanism makes the support unit more convenient to adjust and also makes the stability of the entire support unit higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0038] Figure 1 This is a structural three-dimensional front view of a robot for replacing rollers of a belt conveyor without stopping the machine according to the utility model;

[0039] Figure 2 It is a three-dimensional rear view of the structure of the robot for replacing rollers of a belt conveyor without stopping the machine according to the utility model;

[0040] Figure 3 This is a structural front view of a robot for replacing rollers of a belt conveyor without stopping the machine according to the utility model;

[0041] Figure 4 This is a structural side view of a robot for replacing rollers of a belt conveyor without stopping the machine according to the utility model;

[0042] Figure 5 It is a structural three-dimensional front view of the telescopic detachable suspension unit of the utility model;

[0043] Figure 6 for Figure 5 Partial schematic diagram at point A in the middle;

[0044] Figure 7 It is a three-dimensional rear view of the structure of the telescopic detachable suspension unit of the utility model;

[0045] Figure 8 It is a structural front view of the telescopic detachable suspension unit of the utility model;

[0046] Fig. 9 It is a rear view of the structure of the telescopic detachable suspension unit of the utility model;

[0047] Fig.10 This is a structural stereogram of the roller changing manipulator of the utility model;

[0048] Fig.11 It is a structural stereogram of the second suspension of the utility model;

[0049] Fig.12 This is a structural front view of the holding and lifting unit of the utility model;

[0050] Fig.13 It is a schematic diagram of the open state of the holding and lifting unit of the utility model;

[0051] Fig.14 This is a schematic diagram of the use state of the support unit of the utility model;

[0052] Fig.15 This is a structural stereogram of the support member of the utility model;

[0053] Fig.16 This is a structural stereogram of the support unit of the utility model;

[0054] Fig.17 It is a structural stereogram of the first connecting rod of the utility model;

[0055] Fig.18 It is a structural stereogram of the fourth connecting rod of the utility model;

[0056] Fig.19 It is a structural stereogram of the connecting rod driving unit of the utility model. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in combination with the specific embodiments of the utility model and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0058] In one embodiment of the present application, a belt conveyor is provided with a robot for replacing rollers without stopping the machine, such as Figure 1-Figure 9 As shown, it includes:

[0059] A truss 1 is arranged above the belt conveyor, and the truss 1 serves as a moving track of the robot; it should be noted that the truss 1 is located directly above the conveying channel of the belt conveyor, so that the space occupied by the entire robot can be reduced; it should be noted that the belt conveyor includes a frame, and a plurality of conveying rollers are arranged on the frame at intervals, and the surfaces of the plurality of conveying rollers cooperate with the conveyor belt together, and with the cooperation of the power member, the conveyor belt conveys materials on the conveying rollers;

[0060] The travel drive unit 3 is movably connected to the truss 1; the travel drive unit 3 is a driving device of a mining monorail crane, which is a prior art and will not be described in detail. The travel drive unit 3 moves on the truss 1, and the truss 1 has a track that matches the traveling part on the travel drive unit 3; the traveling part is a traveling wheel or other traveling parts, which is a prior art and will not be described in detail; the track-type travel mechanism and the driving device of the mining monorail crane are used, and lithium batteries are used to provide power, and can automatically move and dock according to the track;

[0061] The telescopic detachable suspension unit 2 is connected to the travel drive unit 3; the travel drive unit 3 drives the telescopic detachable suspension unit 2 to a preset position; the telescopic detachable suspension unit 2 includes a first suspension component 21, a second suspension 22 and a movable locking component 23, the first suspension component 21 is connected to the travel drive unit 3; the second suspension 22 is connected to or separated from the first suspension 21 through the movable locking component 23; when the roller needs to be changed, the second suspension 22 is separated from the first suspension 21; when the travel drive unit 3 is in the process of moving, the second suspension 22 is connected to the first suspension 21 to form a whole; such a design makes it possible that when changing the roller, the first suspension 21 is not affected by the lateral force generated by the conveyor belt when the conveyor belt is not stopped, and will not affect the load-bearing capacity of the travel drive unit 3 and the truss 1, and the load-bearing requirements for the travel drive unit 3 and the truss 1 are relatively low, thereby reducing its production cost; Figure 6 As shown, the movable locking assembly 23 includes a first lifting cylinder 231 arranged on the first suspension 21, and the movable end of the first lifting cylinder 231 is arranged downward, and the second suspension 22 and the first suspension 21 are driven by the first lifting cylinder 231 to move away from the conveying surface of the conveyor belt to avoid collision with the conveyor belt or collision with the staff. When the roller needs to be changed, the first lifting cylinder 231 is lowered to a preset height; as an example, in this embodiment, the number of the first lifting cylinders 231 is four, the two first lifting cylinders 231 arranged at intervals on the left side are a group, and the two first lifting cylinders 231 arranged at intervals on the right side are a group, and the two groups are symmetrically arranged around the center of the first suspension 21; a locking beam 232 is connected between the movable ends of the first lifting cylinders 231 of each group, the middle part of the locking beam 232 is a cavity or a through groove 233, and locking holes 234 are respectively opened at both ends of the locking beam 232, and the locking holes 234 are connected to the cavity or the through groove 233;

[0062] like Figure 6 As shown, the movable locking component 23 also includes a locking support frame 235 connected to the second suspension 22, the locking support frame 235 is located directly below the locking beam 232, and the number of the locking support frames 235 is the same as the number of the locking beams 232; the two sides of the locking support frame 235 are respectively connected with first limit blocks 236, the first limit blocks 236 are adapted to the cavity or through groove 233, that is, the first limit blocks 236 can be separated from or matched with the cavity or through groove 233; the first limit blocks 236 are movably connected with a locking column 238 that matches the corresponding locking hole 234, and the number of the locking columns 238 is the same as the number of the locking holes 234; the end of the locking column 238 away from the locking hole 234 is connected to the movable end of the first telescopic cylinder 237 provided on the locking support frame 235, and the first telescopic cylinder 237 is a double-headed telescopic cylinder. The retractable cylinder controls the movement of the two lock columns on the same side or each lock column 238 is controlled by a retractable cylinder; when the first limit block 236 is located at the preset position in the cavity or through groove 233, the first retractable cylinder 237 works to drive the lock column 238 to connect with the corresponding lock hole 234, so that the second suspension 22 is connected to the first suspension 21; when the second suspension 22 needs to be separated from the first suspension 21, the first retractable cylinder 237 works to drive the lock column 238 to separate from the corresponding lock hole 234; through the joint cooperation of the cavity or through groove 233, the first limit block 236, the lock column 238 and the lock hole 234, the action coordination efficiency between the second suspension 22 and the first suspension 21 is higher; first, the first limit block 236 is positioned with the cavity or through groove 233, and then the lock column 238 and the lock hole 234 are locked, so that the entire locking process is more convenient to operate;

[0063] The holding and lifting unit 4 is arranged on the second suspension 22 of the telescopic detached suspension unit 2; the holding and lifting unit 4 lifts a part of the conveyor belt on the belt conveyor located at the stop position of the travel drive unit 3, so that the part of the conveyor belt on the belt conveyor located at the stop position of the travel drive unit 3 is separated from the conveying roller; during the lifting process, the holding and lifting unit 4 serves as a temporary conveying roller to enable the belt conveyor to operate normally; as an example, the holding and lifting unit 4 is divided into two groups, and the two groups of holding and lifting units 4 are arranged at intervals on the second suspension 22 of the telescopic detached suspension unit 2, so as to further increase the stability during the lifting process;

[0064] The roller changing manipulator 5 is arranged on the second suspension 22 of the telescopic detachable suspension unit 2; the roller changing manipulator 5 replaces the conveying roller under the part of the conveyor belt lifted by the clamping lifting unit 4; it should be noted that the roller changing manipulator 5 is a structure disclosed in the publication number CN107538205A, which will not be described in detail; it is further noted that the length and degree of freedom of the manipulator arm of the roller changing manipulator 5 are adjusted according to actual needs, which is a common design in the field and will not be described in detail; the conveying roller is connected to the frame in a clamping manner, which is a prior art and is convenient for the replacement operation of the roller changing manipulator 5; the two sides of the clamping jaws of the roller changing manipulator 5 are respectively provided with second limit members 51, which are used to limit the conveying rollers, hold the conveying rollers against the conveying rollers, and prevent the conveying rollers from rotating, so as to facilitate the operation of the clamping jaws;

[0065] It also includes a support unit 6, which is arranged on the second suspension 22 of the telescopic detached suspension unit 2, and the support unit 6 cooperates with the frame of the conveyor belt; the support unit 6 is used to support the second suspension 22 after it is detached from the first suspension 21, so that the second suspension 22 can be firmly placed above the belt conveyor, thereby making the clamping and lifting unit 4 and the roller changing manipulator 5 on the second suspension 22 more stable when working, and not affected by the lateral force generated by the conveyor belt during the conveying process. Two support units 6 form a group, and the two support units 6 in a group are arranged symmetrically between the left and right; if the support units 6 are arranged in groups, such as four, six or eight, the centers of the four, six or eight support units 6 are connected in sequence to form a rectangle, and the stability is high; when the roller is changed, the support unit 6 cooperates with the frame of the conveyor belt; when the roller is not changed, the support unit 6 is in a contracted state and does not cooperate with the frame of the conveyor belt.

[0066] As a further illustration, in one embodiment, if Figure 8 As shown, a first guide unit 24 is provided between the second suspension 22 and the first suspension 21. The first guide unit 24 includes a first guide sleeve 241 provided on the first suspension 21 and a first guide column 242 provided on the second suspension 22 and movably connected to the corresponding first guide sleeve 241. The first guide unit 24 provides a guiding function for the first suspension 21 and the second suspension 22 when docking, thereby facilitating the connection.

[0067] In one embodiment, if Fig.11 As shown, it also includes a first roller storage unit 7 for storing new conveying rollers. The first roller storage unit 7 is arranged on the second suspension 22 of the telescopic detachable suspension unit 2, and the first roller storage unit 7 is located on the side of the second suspension 22; the roller changing robot 5 first removes the damaged conveying roller from the frame, and then takes out a new conveying roller from the first roller storage unit 7 for replacement.

[0068] In one embodiment, if Fig.11As shown, it also includes a second roller storage unit 8 for storing replaced conveyor rollers, and the second roller storage unit 8 is arranged on the second suspension 22 of the telescopic detachable suspension unit 2; the second roller storage unit 8 is located in the middle of the second suspension 22; the roller changing robot 5 first removes the damaged conveyor roller from the frame and puts it into the second roller storage unit 8, and then takes out a new conveyor roller from the first roller storage unit 7 for replacement.

[0069] In one embodiment, if Figure 12-13 As shown, the holding and lifting unit 4 includes a holding connection seat 41, and a second lifting cylinder 42 is connected to the holding connection seat 41. The movable end of the second lifting cylinder 42 is arranged downward, and the movable end of the second lifting cylinder 42 is connected to the second suspension 22 through a holding fixed seat 43; the movable end of the second lifting cylinder 42 is connected to the holding fixed seat 43, and the holding fixed seat 43 is fixedly connected to the second suspension 22. A guide unit is provided between the holding fixed seat 43 and the holding connection seat 41 to make the lifting process more stable; the second lifting cylinder 42 drives the holding connection seat 41 It can be raised and lowered relative to the second suspension 22; the left and right sides of the clamping connection seat 41 are respectively rotatably connected with lifting arms 44, and the two lifting arms 44 are symmetrically arranged around the center of the clamping connection seat 41; each lifting arm 44 is rotatably connected with a support roller 45 away from the second air drop cylinder, and the angle between the two support rollers 45 is the same as the angle between the two adjacent conveying rollers on the left and right of the belt conveyor; each lifting arm 44 is rotatably connected with a support half roller 46 away from the second air drop cylinder, and the support half roller 46 is located on the side of the corresponding support roller 45, and the two opposite support half rollers 46 are arranged horizontally;

[0070] A second telescopic cylinder 47 is provided on the left and right sides of the clamping connection seat 41, respectively. The fixed end of each second telescopic cylinder 47 is rotatably connected to the clamping connection seat 41, and the movable end of each second telescopic cylinder 47 is connected to the corresponding lifting arm 44. When the two second telescopic cylinders 47 are contracted, the corresponding two lifting arms 44 are in an open state. When the two second telescopic cylinders 47 are extended, the corresponding two lifting arms 44 are in a clamped state and are located below the conveyor belt. Then the second lifting cylinder 42 is actuated to lift the lifting arm 44. The supporting roller 45 and the supporting half roller 46 on the lifting arm 44 are used as temporary conveying rollers, thereby realizing the lifting of the conveyor belt to facilitate the action of the roller changing manipulator 5. After the conveying rollers are replaced, the reverse operation is performed to open the two lifting arms 44.

[0071] In one embodiment, if Figure 14-Figure 19As shown, the support unit 6 includes a support member 61, a connecting rod mechanism 62 and a connecting rod driving unit 63, and the support member 61 is movably connected to the second suspension 22 through the connecting rod mechanism 62; the fixed end of the connecting rod driving unit 63 is movably connected to the second suspension 22 through a support seat 64, and the movable end of the connecting rod driving unit 63 is movably connected to the connecting rod mechanism 62. Through the cooperation of the connecting rod driving unit 63 and the connecting rod mechanism 62, the support member 61 is coordinated with the frame of the belt conveyor. In the final state, the support member 61 is perpendicular to the frame of the belt conveyor. In this way, the stability of the support unit 6 is the highest, which can ensure the stability of the clamping and lifting unit 4 and the roller changing manipulator 5 on the second suspension 22 when they are working; at the same time, in the working state, the support member 61 is perpendicular to the frame of the belt conveyor. The support unit 6 in this state can offset the lateral force generated by the conveying process of the belt conveyor to ensure the stability of the clamping and lifting unit 4 and the roller changing manipulator 5.

[0072] Furthermore, since the support member 61 cannot be moved in one step to be perpendicular to the frame of the belt conveyor, such as due to factors such as insufficient width of the support member 61, it is necessary to use a connecting rod mechanism 62 and a connecting rod driving unit 63 for adjustment to achieve the support member 61 being perpendicular to the frame of the belt conveyor; the support member 61 includes a support body 611, a connecting groove 612 matching the frame of the belt conveyor is provided at the bottom of the support body 611, a first connecting hole 613 is provided at the top of the support body 611, and a second connecting hole 614 is provided on the support body 611 near the first connecting hole 613;

[0073] The connecting rod mechanism 62 includes a first connecting rod assembly and a second connecting rod assembly, and the first connecting rod assembly and the second connecting rod assembly are respectively located on both sides of the support member 61; the structure of the second connecting rod assembly is symmetrical to the structure of the first connecting rod assembly; the first connecting rod assembly includes a first connecting rod member 6211, a second connecting rod member 6212, a third connecting rod member 6213, a fourth connecting rod member 6214, a fifth connecting rod member 6215 and a sixth connecting rod member 6216,

[0074] The first connecting rod 6211 is provided with a third connecting hole 62111, a fourth connecting hole 62112, a fifth connecting hole 62113 and a sixth connecting hole 62114 at intervals, the third connecting hole 62111, the fourth connecting hole 62112 and the fifth connecting hole 62113 are on the same straight line, and the sixth connecting hole 62114 is located above the fifth connecting hole 62113;

[0075] The fourth connecting rod 6214 is provided with a seventh connecting hole 62141, an eighth connecting hole 62142 and a ninth connecting hole 62143, and the centers of the seventh connecting hole 62141, the eighth connecting hole 62142 and the ninth connecting hole 62143 are sequentially connected to form a triangle;

[0076] The third connecting hole 62111 of the first connecting rod 6211 is rotatably connected to one end of the second connecting rod 6212 via a first rotating shaft, and the first rotating shaft is rotatably connected to the support seat 64 or the second suspension 22; the first connecting rod 6211 is located outside the second connecting rod 6212; the other end of the first connecting rod 6211 is rotatably connected to the seventh connecting hole 62141 via a second rotating shaft;

[0077] One end of the third connecting rod 6213 is rotatably connected to the fourth connecting hole 62112 via a third rotating shaft, and the other end of the third connecting rod 6213 is rotatably connected to the ninth connecting hole 62143 via a fourth rotating shaft;

[0078] One end of the fifth connecting rod 6215 is rotatably connected to the eighth connecting hole 62142 via a fifth rotating shaft; the other end of the fifth connecting rod 6215 is rotatably connected to one end of the sixth connecting rod 6216 via a sixth rotating shaft, and the sixth rotating shaft is rotatably connected to the second connecting hole 614. It should be noted that for the convenience of processing and installation, the sixth rotating shaft is used as a common component of the first connecting rod assembly 621 and the second connecting rod assembly 622; the other end of the sixth connecting rod 6216 is rotatably connected to the fifth connecting hole 62113 via a seventh rotating shaft;

[0079] The connecting rod driving unit 63 includes a first driving cylinder 631, a second driving cylinder 632, a third driving cylinder 633 and a fourth driving cylinder 634. The fixed end of the first driving cylinder 631 is rotatably connected to the support seat 64 or the second suspension 22, the movable end of the first driving cylinder 631 is rotatably connected to the sixth connecting hole 62114 of the first connecting rod assembly 621, the fixed end of the second driving cylinder 632 is rotatably connected to the support seat 64 or the second suspension 22, and the movable end of the second driving cylinder 632 is rotatably connected to the sixth connecting hole 62114 of the second connecting rod assembly 622; the fixed end of the third driving cylinder 633 is rotatably connected to the support seat 64 or the second suspension 22, and the movable end of the third driving cylinder 633 is rotatably connected to the first connecting hole 613; the fixed end of the fourth driving cylinder 634 is rotatably connected to the support seat 64 or the second suspension 22, and the movable end of the fourth driving cylinder 634 is rotatably connected to two fourth rotating shafts. It should be noted that the two fourth rotating shafts can be replaced by one shaft;

[0080] The first driving cylinder 631 and the second driving cylinder 632 are used for lifting and lowering the support member 61; the third driving cylinder 633 is used for adjusting the vertical state of the support member 61 and the frame, and the fourth driving cylinder 634 is used for adjusting the opening angle of the support member 61 so that it can match the frame; because the support member 61 cannot be adjusted into place at once or there is an angle problem with the frame, timely adjustment is required through the third driving cylinder 633 and the fourth driving cylinder 634.

[0081] In this embodiment, the first link member 6211, the second link member 6212, the third link member 6213 and the fourth link member 6214 work together to form a parallelogram structure, such as Fig.14 As shown at B in the middle; with this structure, the support member 61 can be adjusted in the left and right directions and the vertical direction.

[0082] In this embodiment, by adopting the support member 61, the lateral force generated by the belt conveyor can be effectively offset; and the first driving cylinder 631, the second driving cylinder 632, the third driving cylinder 633 and the fourth driving cylinder 634 only generate axial force, and there is no need to resist the lateral force, so the service life of the lifting cylinder is long.

[0083] During implementation, in the initial state, the holding and lifting unit 4 and the roller changing manipulator 5 are both in a suspended state; the roller is replaced at the position where the conveying roller is damaged: first, the travel drive unit 3 drives the telescopic detaching suspension unit 2, the holding and lifting unit 4, and the roller changing manipulator 5 to the corresponding position, and after the support unit 6 is supported on the frame of the belt conveyor, the second suspension 22 of the telescopic detaching suspension unit 2 is detached from the first suspension 21 through the movable locking component 23;

[0084] After the first suspension 21 is disengaged from the second suspension 22, the clamping and lifting unit 4 works, so that the support roller 45 and the support half roller 46 replace the conveying rollers of the belt conveyor that need to be replaced, thereby realizing the rolling transmission of the conveyor belt of the belt conveyor; the entire clamping and lifting unit 4 moves upward, and the guide rails on both sides keep the lifting process stable, the conveyor belt is lifted up, and the roller changing manipulator 5 performs the roller changing work; after the roller changing is completed, the clamping and lifting unit 4 returns to the open state, the roller changing manipulator 5 returns to the standby state, the second suspension 22 is connected to the first suspension 21 through the movable locking component 23, and then the support unit 6 is recovered, and the walking drive unit 3 is brought to the next replacement point for operation.

[0085] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0086] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0087] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0088] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0089] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0090] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0091] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A belt conveyor non-stop roller replacement robot, characterized in that: It includes: A telescopic detachable suspension unit, the telescopic detachable suspension unit comprising a first suspension component, a second suspension and a movable locking component, the first suspension component being connected to a travel drive unit; the second suspension being connected to or separated from the first suspension via the movable locking component; The holding and lifting unit is arranged on the second suspension of the telescopic detachable suspension unit; the holding and lifting unit lifts a part of the conveyor belt on the belt conveyor located at the stop position of the travel drive unit, so that the part of the conveyor belt on the belt conveyor located at the stop position of the travel drive unit is separated from the conveying roller; A roller changing manipulator is arranged on the second suspension of the telescopic detachable suspension unit; the roller changing manipulator replaces the conveying roller under the part of the conveyor belt lifted by the holding and lifting unit; It also includes a support unit, which is arranged on the second suspension that is telescopically separated from the suspension unit, and the support unit is matched with the frame of the conveyor belt; the support unit is used to support the second suspension after being separated from the first suspension.

2. The belt conveyor non-stop roller replacement robot according to claim 1, characterized in that: The movable locking assembly comprises a first lifting cylinder arranged on the first suspension, a locking beam is connected between the movable ends of the first lifting cylinder, the middle part of the locking beam is a cavity or a through groove, and locking holes are respectively opened at both ends of the locking beam, and the locking holes are connected to the cavity or the through groove; It also includes a locking support frame connected to the second suspension; first limit blocks are respectively connected to both sides of the locking support frame, and the first limit blocks are adapted to the cavity or the through slot, that is, the first limit blocks can be separated from or matched with the cavity or the through slot; a locking column matched with the corresponding locking hole is movably connected to the first limit block; the end of the locking column away from the locking hole is connected to the movable end of the first telescopic cylinder arranged on the locking support frame.

3. The belt conveyor non-stop roller replacement robot according to claim 1 or 2, characterized in that: A first guide unit is provided between the second suspension and the first suspension. The first guide unit comprises a first guide sleeve provided on the first suspension and a first guide column provided on the second suspension and movably connected to the corresponding first guide sleeve.

4. The belt conveyor non-stop roller replacement robot according to claim 1, characterized in that: The utility model also comprises a first roller storage unit for storing new conveying rollers, wherein the first roller storage unit is arranged on the second suspension of the telescopic detachable suspension unit.

5. The belt conveyor non-stop roller replacement robot according to claim 1 or 4, characterized in that: It also includes a second roller storage unit for storing replaced conveying rollers, and the second roller storage unit is arranged on the second suspension of the telescopic detachable suspension unit.

6. The belt conveyor non-stop roller replacement robot according to claim 1, characterized in that: The clamping and lifting unit comprises a clamping connection seat, a second lifting cylinder is connected to the clamping connection seat, and the movable end of the second lifting cylinder is connected to the second suspension through a clamping fixed seat; the left and right sides of the clamping connection seat are respectively rotatably connected with lifting arms, and the two lifting arms are symmetrically arranged around the center of the clamping connection seat; each lifting arm is rotatably connected to a support roller away from the second air-drop cylinder; each lifting arm is rotatably connected to a support half-roller away from the second air-drop cylinder, and the support half-roller is located on the side of the corresponding support roller; The left and right sides of the clamping connection seat are respectively provided with second telescopic cylinders, the fixed end of each second telescopic cylinder is rotatably connected to the clamping connection seat, and the movable end of each second telescopic cylinder is connected to the corresponding lifting arm.

7. The belt conveyor non-stop roller replacement robot according to claim 6, characterized in that: The included angle of the two support rollers is the same as the included angle of two adjacent conveying rollers on the left and right in the belt conveyor, and the two opposite support half rollers are arranged horizontally.

8. The belt conveyor non-stop roller replacement robot according to claim 1, characterized in that: The support unit includes a support member, a connecting rod mechanism and a connecting rod driving unit. The support member is movably connected to the second suspension through the connecting rod mechanism; the fixed end of the connecting rod driving unit is movably connected to the second suspension through a support seat, and the movable end of the connecting rod driving unit is movably connected to the connecting rod mechanism.

9. The belt conveyor non-stop roller replacement robot according to claim 8, characterized in that: The support member comprises a support body, the bottom of the support body is provided with a connection groove matched with the frame of the belt conveyor, the top of the support body is provided with a first connection hole, and the support body is provided with a second connection hole near the first connection hole; The connecting rod mechanism includes a first connecting rod assembly and a second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly are respectively located on both sides of the support member; the structure of the second connecting rod assembly is symmetrical to the structure of the first connecting rod assembly; the first connecting rod assembly includes a first connecting rod member, a second connecting rod member, a third connecting rod member, a fourth connecting rod member, a fifth connecting rod member and a sixth connecting rod member, The first connecting rod is provided with a third connecting hole, a fourth connecting hole, a fifth connecting hole and a sixth connecting hole at intervals, the third connecting hole, the fourth connecting hole and the fifth connecting hole are on the same straight line, and the sixth connecting hole is located above the fifth connecting hole; The fourth connecting rod is provided with a seventh connecting hole, an eighth connecting hole and a ninth connecting hole, and the centers of the seventh connecting hole, the eighth connecting hole and the ninth connecting hole are sequentially connected to form a triangle; The third connecting hole of the first connecting rod is rotatably connected to one end of the second connecting rod through a first rotating shaft, and the first rotating shaft is rotatably connected to the second suspension; the first connecting rod is located outside the second connecting rod; the other end of the first connecting rod is rotatably connected to the seventh connecting hole through a second rotating shaft; One end of the third connecting rod is rotatably connected to the fourth connecting hole via a third rotating shaft, and the other end of the third connecting rod is rotatably connected to the ninth connecting hole via a fourth rotating shaft; One end of the fifth connecting rod is rotatably connected to the eighth connecting hole via a fifth rotating shaft; the other end of the fifth connecting rod is rotatably connected to one end of the sixth connecting rod via a sixth rotating shaft, and the sixth rotating shaft is rotatably connected to the second connecting hole; the other end of the sixth connecting rod is rotatably connected to the fifth connecting hole via a seventh rotating shaft; The connecting rod driving unit includes a first driving cylinder, a second driving cylinder, a third driving cylinder and a fourth driving cylinder, the fixed end of the first driving cylinder is rotatably connected to the support seat or the second suspension, the movable end of the first driving cylinder is rotatably connected to the sixth connecting hole of the first connecting rod assembly, the fixed end of the second driving cylinder is rotatably connected to the support seat or the second suspension, and the movable end of the second driving cylinder is rotatably connected to the sixth connecting hole of the second connecting rod assembly; the fixed end of the third driving cylinder is rotatably connected to the support seat or the second suspension, and the movable end of the third driving cylinder is rotatably connected to the first connecting hole; the fixed end of the fourth driving cylinder is rotatably connected to the support seat or the second suspension, and the movable end of the fourth driving cylinder is rotatably connected to the two fourth rotating shafts.

10. The belt conveyor non-stop roller replacement robot according to claim 9, characterized in that: The first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod cooperate to form a parallelogram structure.

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