Toothed plate carrying device for crusher

Abstract

The utility model belongs to the technical field of welding repair of crushers, and discloses a toothed plate carrying device for a crusher, the toothed plate carrying device comprises a carrying robot, a clamping assembly, a machine vision assembly and a supporting assembly, the clamping assembly comprises a clamping plate and a clamping driving piece, and the clamping plate is connected with the clamping driving piece. The clamping driving part is installed at the tail end of the carrying robot and connected with the clamping plate so as to drive the clamping plate to clamp the toothed plate, the supporting assembly comprises a containing frame and a welding frame, and the carrying robot is arranged between the containing frame and the welding frame so as to carry the toothed plate on the containing frame to the welding frame; according to the technical scheme, the toothed plate conveying device can replace manual work to carry out toothed plate conveying operation, the labor intensity of workers is reduced, and the conveying efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of crusher welding repair, and particularly relates to a tooth plate handling device for a crusher. Background Art

[0002] In the mining industry, crushers are commonly used machinery, mainly used to crush the mined ore. For the convenience of ore transportation, the ore after primary crushing needs to be crushed again. When the ore is crushed for the second time, since the size and volume of the ore are relatively small, a small crushing station is usually used for the secondary crushing of the ore. In the crushing station, an MMD625 double-tooth roll crusher is often used. Multiple tooth plates are installed on each of the two crushing shafts in the crusher, and multiple hammers are arranged on each tooth plate. When the two crushing rolls rotate, the multiple hammers are driven to bite each other, so as to achieve the effect of secondary crushing of the ore. The hammer is a vulnerable part in the crusher. When the ore is crushed, the hammer often wears, which affects the crushing effect of the crusher on the ore and the crushing efficiency. Therefore, it is necessary to disassemble the tooth plate for repair and welding after the hammer wears. When using a welding robot to repair and weld the tooth plate, it is necessary for workers to manually carry the tooth plate to the welding station of the welding robot. When a large number of tooth plates need to be repaired and welded, it requires workers to carry out long-term high-intensity handling operations, which is not conducive to the physical health of the workers. In view of this, the present utility model is proposed. Summary of the Utility Model

[0003] In order to solve the problem of high labor intensity when manually handling a large number of tooth plates, the present utility model provides a tooth plate handling device for a crusher.

[0004] In order to solve the above technical problems, the present utility model provides a tooth plate handling device for a crusher. The tooth plate handling device includes a handling robot, a clamping assembly, a machine vision assembly and a support assembly. The clamping assembly includes a clamping plate and a clamping driving member. The clamping driving member is installed at the end of the handling robot and is connected to the clamping plate to drive the clamping plate to clamp the tooth plate. The support assembly includes a placement rack and a welding rack. The handling robot is arranged between the placement rack and the welding rack to carry the tooth plate on the placement rack to the welding rack. The machine vision assembly is in signal connection with the handling robot to identify the tooth plate image.

[0005] In an embodiment of the present utility model, the clamping driving member adopts a bidirectional cylinder. The clamping plates are symmetrically arranged on both sides of the clamping driving member and are connected to the output shaft of the clamping driving member. The clamping driving member drives the two clamping plates to approach or move away from each other simultaneously.

[0006] In an embodiment of the present utility model, at least one positioning post is provided on the clamping driving member. When the clamping plate clamps the toothed plate, the position of the positioning post corresponds to the position of the mounting hole of the toothed plate. The diameter of the positioning post is adapted to the diameter of the mounting hole of the toothed plate, and the end of the positioning post is conical.

[0007] In an embodiment of the present utility model, the clamping assembly further includes an electromagnet, and the electromagnet is mounted on the clamping driving member and is signal-connected to the clamping driving member.

[0008] In an embodiment of the present utility model, at least one limiting post is provided on the clamping plate, and the limiting post is arranged perpendicular to the clamping plate to limit the toothed plate when the clamping plate clamps the toothed plate.

[0009] In an embodiment of the present utility model, a groove is formed on the placement rack, and the toothed plate is placed upright on the placement rack and the middle position of the toothed plate corresponds to the groove.

[0010] In an embodiment of the present utility model, the support assembly further includes a conveyor belt and a conveyor driving member. The conveyor belt is arranged on the placement rack to carry the toothed plate, and the conveyor driving member is fixed on the placement rack and is connected to the conveyor belt to drive the conveyor belt to intermittently transmit.

[0011] In an embodiment of the present utility model, a workpiece position for placing the toothed plate is provided on the welding rack. The workpiece position protrudes from the surface of the welding rack, and the surface of the workpiece position is an arc surface adapted to the radian of the toothed plate. A fixing hole aligned with the mounting hole of the toothed plate is formed on the arc surface.

[0012] In an embodiment of the present utility model, the machine vision assembly includes a camera, a lidar and a housing. The housing is mounted at the end of the handling robot. The camera and the lidar are mounted inside the housing. The housing is fixed on the connecting plate and a flip-up cover plate is hinged on one side thereof.

[0013] In an embodiment of the present utility model, at least two groups of support assemblies are provided, and the handling robot is arranged between at least two groups of support assemblies.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] The position of the toothed plate is obtained through the machine vision assembly, so that the handling robot drives the clamping plate to move according to the position of the toothed plate, and drives the clamping plate to clamp the toothed plate under the drive of the clamping driving member. Therefore, the handling robot can replace manual labor for the handling operation of the toothed plate, and further, when a large number of toothed plates are repaired and welded, the labor intensity during manual operation can be reduced, the handling efficiency of the toothed plate can be improved, and further, the welding efficiency of the toothed plate can be improved in cooperation with the welding robot. Description of the Drawings

[0016] The drawings are used to provide a further understanding of the embodiments of the present utility model, and constitute a part of the specification. Together with the following specific implementation manners, they are used to explain the embodiments of the present utility model, but do not constitute a limitation to the embodiments of the present utility model. In the drawings:

[0017] Figure 1 is a three-dimensional structural schematic diagram of the handling system provided by the embodiment of the present utility model;

[0018] Figure 2 is a three-dimensional structural schematic diagram of a part of the handling system provided by an embodiment of the present utility model.

[0019] Description of the Reference Numerals

[0020] 1. Handling system; 2. Tooth plate; 3. Welding robot; 21. Hammer head; 11. Handling robot; 13. Clamping assembly; 15. Support assembly; 16. Machine vision assembly;

[0021] 131. Clamping plate; 132. Clamping driving member; 133. Positioning column; 134. Limit column;

[0022] 151. Placing rack; 152. Welding rack;

[0023] 1511. Groove; 1521. Workpiece position. Specific Embodiment

[0024] The following details the specific embodiments of the present utility model with reference to the drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the present utility model, and are not used to limit the present utility model.

[0025] Please refer to Figure 1 - Figure 2 , Figure 1 is a three-dimensional structural schematic diagram of the handling system provided by the embodiment of the present utility model; Figure 2 is a three-dimensional structural schematic diagram of a part of the handling system provided by an embodiment of the present utility model. The tooth plate 2 handling device of the present utility model for a crusher includes a handling robot 11, a clamping assembly 13, a machine vision assembly 16, and a support assembly 15. The clamping assembly 13 includes a clamping plate 131 and a clamping driving member 132. The clamping driving member 132 is installed at the end of the handling robot 11 and is connected to the clamping plate 131 to drive the clamping plate 131 to clamp the tooth plate 2. The support assembly 15 includes a placing rack 151 and a welding rack 152. The handling robot 11 is arranged between the placing rack 151 and the welding rack 152 to transfer the tooth plate 2 on the placing rack 151 to the welding rack 152. The machine vision assembly 16 is in signal connection with the handling robot 11 to identify the image of the tooth plate 2.

[0026] By installing the clamping driving member 132 at the end of the handling robot 11 and connecting the clamping plate 131 with the clamping driving member 132, the clamping plate 131 can be driven to move synchronously under the movement of the robot. Meanwhile, under the drive of the clamping driving member 132 on the clamping plate 131, the clamping plate 131 can perform a clamping action. Furthermore, when the handling robot 11 drives the clamping plate 131 to move to the placement rack 151 and makes the clamping plate 131 correspond to the toothed plate 2 in position, by driving the clamping plate 131 to move through the clamping driving member 132, the clamping plate 131 can clamp the toothed plate 2, and then the handling robot 11 can drive the toothed plate 2 to move from the placement rack 151 to the welding rack 152, so as to facilitate the automatic welding of the toothed plate 2 placed on the welding rack 152 by the welding robot 3.

[0027] By signal-connecting the machine vision component 16 with the handling robot 11, when the handling robot 11 is performing the handling operation of the toothed plate 2, the image of the toothed plate 2 can be obtained through the machine vision component 16, and the position information of the toothed plate 2 can be obtained by analyzing the image of the toothed plate 2, so that the handling robot 11 can adjust the position and clamping angle of the clamping plate 131 according to the position information of the toothed plate 2, which is convenient for the clamping driving member 132 to drive the clamping plate 131 to clamp the toothed plate 2. Furthermore, it is convenient for the handling robot 11 to drive the toothed plate 2 to move through the clamping plate 131 and move the toothed plate 2 from the placement rack 151 to the welding rack 152, improving the handling efficiency of the toothed plate 2.

[0028] In the above embodiment, a workpiece position 1521 for placing the toothed plate 2 is provided on the welding rack 152, and the welding robot 3 is arranged on one side of the welding rack 152. When the handling robot 11 transports the toothed plate 2 from the placement rack 151 to the welding rack 152, the toothed plate 2 is placed on the workpiece position 1521 to fix the position of the toothed plate 2 under the action of the workpiece position 1521, so as to facilitate the automatic welding of the toothed plate 2 placed on the workpiece position 1521 by the welding robot 3.

[0029] Compared with the way of manually handling the hammer head 21 by humans, the present utility model obtains the position of the toothed plate 2 through the machine vision component 16, so that the handling robot 11 drives the clamping plate 131 to move according to the position of the toothed plate 2, and drives the clamping plate 131 to clamp the toothed plate 2 under the drive of the clamping driving member 132. Thus, the handling robot 11 can replace humans to perform the handling operation of the toothed plate 2. Furthermore, when performing repair welding on a large number of toothed plates 2, the labor intensity during manual operation can be reduced, the handling efficiency of the toothed plate 2 can be improved, and the welding efficiency of the toothed plate 2 can be improved with the cooperation of the welding robot 3.

[0030] In an embodiment of the present utility model, the clamping driving member 132 adopts a double-acting cylinder. The clamping plates 131 are symmetrically arranged on both sides of the clamping driving member 132 and are connected to the output shaft of the clamping driving member 132. The clamping driving member 132 drives the two clamping plates 131 to approach or move away from each other simultaneously.

[0031] By using a double-acting cylinder as the clamping driving member 132 and symmetrically arranging the clamping plates 131 on both sides of the clamping driving member 132, when the clamping driving member 132 works, it can drive the two clamping plates 131 to approach or move away from each other simultaneously. That is, when the handling robot 11 drives the clamping assembly 13 to move to the placement rack 151 and makes the positions of the clamping plates 131 correspond to those of the toothed plate 2, by driving the two clamping plates 131 to approach each other simultaneously, the upper and lower sides or left and right sides of the toothed plate 2 can be clamped by the two clamping plates 131. Then, under the movement of the handling robot 11, the toothed plate 2 is driven to move synchronously. When the handling robot 11 moves to the position of the welding plate, by driving the two clamping plates 131 to move away from each other simultaneously, the clamping plates 131 release the toothed plate 2 and place the toothed plate 2 on the welding rack 152, thus realizing the unmanned handling operation of the toothed plate 2, improving the handling efficiency of the toothed plate 2, and facilitating the welding robot 3 to perform repair welding on the toothed plate 2 on the welding rack 152.

[0032] Please refer to Figure 2 In an embodiment of the present utility model, at least one positioning post 133 is provided on the clamping driving member 132. When the clamping plate 131 clamps the toothed plate 2, the position of the positioning post 133 corresponds to the position of the mounting hole of the toothed plate 2. The diameter of the positioning post 133 is adapted to the diameter of the mounting hole of the toothed plate 2, and the end of the positioning post 133 is conical.

[0033] By providing at least one positioning post 133 on the clamping driving member 132 that is aligned with the mounting hole of the toothed plate 2, when the clamping plate 131 clamps the toothed plate 2, under the movement of the handling robot 11, the position of the clamping driving member 132 can be made to correspond to that of the toothed plate 2. Under the positioning of the machine vision component 16 on the toothed plate 2, the position of the handling robot 11 is adjusted, and the position of the positioning post 133 is made to correspond to the position of the mounting hole of the toothed plate 2. Then, the handling robot 11 horizontally advances the clamping assembly 13 and inserts the positioning post 133 into the mounting hole of the toothed plate 2. Subsequently, the clamping driving member 132 drives the two clamping plates 131 to approach each other to clamp the toothed plate 2, so as to facilitate the handling robot 11 to accurately transport the toothed plate 2 to the welding rack 152, that is, accurately place the toothed plate 2 on the workpiece position 1521, so as to facilitate the welding robot 3 to weld the toothed plate 2.

[0034] In the above embodiments, when the handling robot 11 places the toothed plate 2 on the workpiece position 1521, the machine vision component 16 acquires an image of the workpiece position 1521 and locates the workpiece position 1521. Then, the handling robot 11 adjusts the position of the toothed plate 2 according to the positioning information of the workpiece position 1521, and finally accurately places the toothed plate 2 on the workpiece position 1521, thereby achieving the automated handling effect of the toothed plate 2 and improving the handling efficiency and the accuracy of the handling position of the toothed plate 2.

[0035] By setting the size of the positioning post 133 to match the diameter of the mounting hole of the toothed plate 2 and setting the end of the positioning post 133 to be conical, when the handling robot 11 pushes the clamping component 13, the end of the positioning post 133 can be inserted into the mounting hole of the toothed plate 2 first. As the positioning post 133 goes deeper, the positioning post 133 fits with the mounting hole of the toothed plate 2, so as to improve the stability when the clamping component 13 clamps the toothed plate 2 and avoid the toothed plate 2 shaking during the process of the handling robot 11 driving the toothed plate 2 to move, which affects the placement position of the toothed plate 2 on the workpiece position 1521.

[0036] In other embodiments of the present invention, the clamping component 13 further includes an electromagnet, and the electromagnet is installed on the clamping driving member 132 and is signal-connected to the clamping driving member 132.

[0037] By installing the electromagnet on the clamping driving member 132 and signal-connecting the electromagnet to the clamping driving member 132, after the positioning post 133 is inserted into the mounting hole of the toothed plate 2 and the electromagnet is in contact with the hammer head 21, the clamping driving member 132 drives the clamping plate 131 to clamp the toothed plate 2, and at the same time, the electromagnet is controlled to be energized so that the electromagnet adsorbs the hammer head 21. Then, when the handling robot 11 transports the toothed plate 2, the toothed plate 2 can move stably under the adsorption action of the electromagnet and the clamping action of the clamping plate 131, avoiding the situation of the toothed plate 2 shaking during the transportation and improving the stability when the toothed plate 2 is transported.

[0038] In the embodiments of the present invention, at least one limiting post 134 is provided on the clamping plate 131, and the limiting post 134 is perpendicular to the clamping plate 131 to limit the toothed plate 2 when the clamping plate 131 clamps the toothed plate 2.

[0039] By providing at least one limiting post 134 perpendicular to the clamping plate 131, after the surface of the clamping driving member 132 is in contact with the hammer head 21, the clamping driving member 132 drives the clamping plate 131 to clamp the toothed plate 2. At this time, the limiting post 134 is located on the side of the toothed plate 2 away from the hammer head 21. Under the action of the limiting post 134, the toothed plate 2 can be prevented from shaking between the clamping plates 131 and falling off the clamping plates 131.

[0040] In an embodiment of the present utility model, a groove 1511 is formed on the placement rack 151, and the toothed plate 2 is placed upright on the placement rack 151, and the middle position of the toothed plate 2 corresponds to the groove 1511.

[0041] By placing the toothed plate 2 upright on the placement rack 151 and forming a groove 1511 on the placement rack 151, when the handling robot 11 drives the clamping assembly 13 to clamp the toothed plate 2, the toothed plate 2 can be clamped from the upper and lower sides of the toothed plate 2, and the clamping plate 131 located below is inserted into the groove 1511 to correspond to the lower side of the toothed plate 2. Then, the clamping driving member 132 drives the two clamping plates 131 to approach each other to clamp the toothed plate 2. Subsequently, under the movement of the handling robot 11, the toothed plate 2 is driven to move synchronously, and finally the toothed plate 2 is moved from the placement rack 151 to the workpiece position 1521, realizing the unmanned handling operation of the toothed plate 2 and improving the handling efficiency.

[0042] In other embodiments of the present utility model, the support assembly 15 further includes a conveyor belt and a conveyor driving member. The conveyor belt is arranged on the placement rack 151 to carry the toothed plate 2, and the conveyor driving member is fixed on the placement rack 151 and connected to the conveyor belt to drive the conveyor belt to intermittently transmit.

[0043] By arranging a conveyor belt on the placement rack 151 and connecting the conveyor driving member to the conveyor belt, the conveyor belt is driven to intermittently transmit under the drive of the conveyor driving member. Then, when the toothed plate 2 to be repaired is placed on the conveyor belt, the toothed plate 2 can follow the conveyor belt to intermittently transmit. When the conveyor belt stops transmitting, the handling robot 11 can identify the image of the toothed plate 2 and obtain the position of the toothed plate 2 under the action of the machine vision assembly 16, so that the handling robot 11 can drive the clamping assembly 13 to clamp the toothed plate 2 from the conveyor belt and carry the toothed plate 2 to the workpiece position 1521. At the same time, after the conveyor driving member drives the conveyor to perform one transmission, it randomly stops to convey the next toothed plate 2 to a position close to the handling robot 11, facilitating the handling robot 11 to handle the toothed plate 2 and improving the handling efficiency of the toothed plate 2.

[0044] In an embodiment of the present utility model, a workpiece position 1521 for placing the toothed plate 2 is arranged on the welding rack 152. The workpiece position 1521 protrudes from the surface of the welding rack 152, and the surface of the workpiece position 1521 is an arc surface adapted to the arc of the toothed plate 2, and fixing holes corresponding to the mounting holes of the toothed plate 2 are formed on the arc surface.

[0045] By setting the workpiece position 1521 as an arc surface adapted to the radian of the toothed plate 2, the toothed plate 2 can be placed on the workpiece position 1521, increasing the contact area between the toothed plate 2 and the workpiece position 1521. At the same time, it can also prevent the toothed plate 2 from shifting on the workpiece position 1521. By opening fixing holes on the arc surface that are aligned with the mounting holes of the toothed plate 2, when the handling robot 11 places the toothed plate 2 on the workpiece position 1521, the machine vision component 16 can position the fixing holes, enabling the handling robot 11 to drive the positioning post 133 to move according to the positioning of the fixing holes and insert the positioning post 133 into the fixing holes. Subsequently, by controlling the clamping plates 131 to move away from each other, the clamped toothed plate 2 is released and accurately placed on the workpiece position 1521, improving the position accuracy of the toothed plate 2 handling and facilitating the welding robot 3 to weld the toothed plate 2.

[0046] In an embodiment of the present utility model, the machine vision component 16 includes a camera, a lidar, a connecting plate, and a housing. The housing is installed at the end of the handling robot 11. The camera and the lidar are installed inside the housing. The housing is fixed to the housing, and a flip-up cover is hinged on one side thereof.

[0047] In the above embodiment, the machine vision component 16 includes a camera, a lidar, and a housing. The camera and the lidar are installed inside the housing. The housing is fixed to the mounting plate, and a flip-up cover is hinged on one side thereof. When it is necessary to obtain an image of the toothed plate 2, the cover is flipped open to facilitate the camera to obtain a two-dimensional image of the toothed plate 2 and the lidar to obtain a point cloud image of the toothed plate 2. Then, by processing the data of the two-dimensional image and the point cloud image, the position information of the mounting holes of the toothed plate 2 and the toothed plate 2 can be obtained, facilitating the handling robot 11 to perform the clamping operation of the toothed plate 2 according to the position information of the mounting holes of the toothed plate 2 and the toothed plate 2, transporting the toothed plate 2 on the placement rack 151 to the welding rack 152, and facilitating the welding robot 3 to automatically weld the toothed plate 2, improving the welding quality and efficiency of the hammer head 21.

[0048] In an embodiment of the present utility model, at least two sets of support components 15 are provided, and the handling robot 11 is arranged between at least two sets of support components 15.

[0049] By arranging the handling robot 11 between at least two sets of support components 15, the handling robot 11 can perform the handling operation of the toothed plate 2 on at least two placement racks 151 and at least two welding racks 152, facilitating the welding robot 3 to automatically repair weld the toothed plate 2 placed on the welding rack 152. After the welding robot 3 completes the repair welding operation of the toothed plate 2, the handling robot 11 takes out the toothed plate 2 from the welding rack 152 and transports the next toothed plate 2 to be repaired welded from the placement rack 151 to the welding rack 152. By repeating this cycle, the downtime waiting time of the welding robot 3 during the welding of the toothed plate 2 can be reduced, and the welding efficiency of the toothed plate 2 can be improved.

[0050] In the present utility model, the manner in which the first feature and the second feature are connected by signals may be a wireless connection such as a wireless network, Bluetooth, a local area network, etc., or may also be a wired connection such as a wire, a network cable, a signal cable, etc., so as to enable signal transmission and communication between the first feature and the second feature.

[0051] In the present utility model, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0052] The preferred embodiments of the present utility model have been described in detail above in conjunction with the accompanying drawings. However, the present utility model is not limited thereto. Within the scope of the technical concept of the present utility model, various simple modifications can be made to the technical solution of the present utility model, including the combination of each specific technical feature in any suitable manner. To avoid unnecessary repetition, the present utility model will not separately describe various possible combination methods. However, these simple modifications and combinations should also be regarded as the content disclosed by the present utility model and all fall within the protection scope of the present utility model.

[0053] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present utility model.

Claims

1. A toothed plate handling device for a crusher, characterized in that: The tooth plate handling device includes a handling robot, a clamping assembly, a machine vision assembly and a support assembly. The clamping assembly includes a clamping plate and a clamping drive. The clamping drive is installed at the end of the handling robot and connected to the clamping plate to drive the clamping plate to clamp the tooth plate. The support assembly includes a placement rack and a welding rack. The handling robot is arranged between the placement rack and the welding rack to transport the tooth plate on the placement rack to the welding rack. The machine vision assembly is connected to the handling robot signal to identify the tooth plate image.

2. The toothed plate handling device for a crusher according to claim 1, characterized in that: The clamping drive member adopts a bidirectional cylinder, the clamping plates are symmetrically arranged on both sides of the clamping drive member and connected to the output shaft of the clamping drive member, and the clamping drive member drives the two clamping plates to approach or move away from each other at the same time.

3. The toothed plate handling device for a crusher according to claim 2, characterized in that: At least one positioning column is arranged on the clamping drive member. When the clamping plate clamps the tooth plate, the position of the positioning column corresponds to the position of the tooth plate mounting hole. The diameter of the positioning column matches the diameter of the tooth plate mounting hole, and the end of the positioning column is conical.

4. The toothed plate handling device for a crusher according to claim 2, characterized in that: The clamping assembly also includes an electromagnet, which is installed on the clamping drive and is signal-connected to the clamping drive.

5. The toothed plate handling device for a crusher according to claim 2, characterized in that: At least one limiting column is arranged on the clamping plate, and the limiting column is arranged perpendicular to the clamping plate to limit the tooth plate when the clamping plate clamps the tooth plate.

6. The toothed plate handling device for a crusher according to claim 1, characterized in that: A groove is provided on the placement rack, and the tooth plate is uprightly placed on the placement rack with the middle position of the tooth plate corresponding to the groove.

7. The toothed plate handling device for a crusher according to claim 6, characterized in that: The support assembly also includes a conveyor belt and a conveyor drive member. The conveyor belt is arranged on the placement rack to carry the tooth plate. The conveyor drive member is fixed on the placement rack and connected to the conveyor belt to drive the conveyor belt to transmit intermittently.

8. The toothed plate handling device for a crusher according to claim 1, characterized in that: The welding frame is provided with a workpiece position for placing the tooth plate, the workpiece position protrudes from the surface of the welding frame, and the surface of the workpiece position is an arc surface adapted to the curvature of the tooth plate, and a fixing hole aligned with the tooth plate mounting hole is opened on the arc surface.

9. The toothed plate handling device for a crusher according to claim 1, characterized in that: The machine vision component includes a camera, a laser radar, a connecting plate and a shell. The shell is installed at the end of the transport robot, the camera and the laser radar are installed inside the shell, and the shell is fixed on the connecting plate and has a flip cover hinged on one side.

10. The toothed plate handling device for a crusher according to any one of claims 1 to 9, characterized in that: The support components are provided in at least two groups, and the transport robot is arranged between the at least two groups of the support components.

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