Large-torque bolt dismounting device for mine car

Abstract

The utility model discloses a mine car large-torque bolt dismounting device which comprises a positioning ring (1), a first connecting plate (2), a tail end executing mechanism body (3), a 2D visual device (4), a 3D visual device (5), a clamping device (6), a hydraulic wrench (7), a floating device (8) and a quick screwing device (9). Precise positioning is realized; automatic dismounting and placing of mine car bolts are achieved through the floating device at the tail end of the bolt dismounting robot, manual operation is not needed in the whole process, and the operation efficiency is higher.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a high-torque bolt disassembly device for mining cars. Background Technology

[0002] Currently, the disassembly of high-torque bolts in mining cars is mainly done manually. The disassembly tools are cumbersome, manual operation is difficult and labor-intensive, requiring multiple people to work together, resulting in low efficiency. Existing bolt disassembly devices are mostly manual or robotic arms. These suffer from inaccurate positioning, easily damaging the robotic arm or bolts, thus affecting work efficiency. Therefore, a floating end effector for a high-torque bolt disassembly robot in mining cars is needed to solve these problems. Utility Model Content

[0003] To address the aforementioned problems, the purpose of this utility model is to provide a high-torque bolt disassembly device for mining cars. This device uses a floating end effector of a bolt disassembly robot to automatically disassemble and place the bolts in the mining car, accurately positioning the bolts and improving the disassembly efficiency of high-torque bolts while saving manpower.

[0004] To achieve the above objectives, this utility model provides a high-torque bolt removal device for mining cars, comprising a positioning ring (1), a first connecting plate (2), an end-effector body (3), a 2D vision device (4), a 3D vision device (5), a clamping device (6), a hydraulic wrench (7), a floating device (8), and a quick-tightening device (9). The positioning ring (1) is connected to the first connecting plate (2); the end-effector body (3) is connected to the first connecting plate (2); the 2D vision device (4) is connected to the end-effector body (3); the 3D vision device (5) is connected to the end-effector body (3); the clamping device (6) is connected to the end-effector body (3); the hydraulic wrench (7) is connected to the floating device (8); and the quick-tightening device (9) is connected to the floating device (8).

[0005] Preferably, the end effector body (3) includes a lifting body (31), a magnetic scale assembly (32), a reading head assembly (33), a reaction arm cylinder assembly (34), a lifting frame (35), and a pneumatic control cabinet assembly (36). The lifting body (31) is connected to the magnetic scale assembly (32); the reading head assembly (33) and the reaction arm cylinder assembly (34) are connected to the lifting frame (35); and the lifting frame (35) and the pneumatic control cabinet assembly (36) are connected to the lifting body (31).

[0006] Preferably, the lifting body (31) includes a first mounting plate (311), a blocking device (312), a slider (313), a first cylinder (314), a first reinforcing rib (315), a first cylinder seat (316), a transition plate (317), a second reinforcing rib (318), and a slide rail (319). The blocking device (312), the slide rail (319), the first reinforcing rib (315), the transition plate (317), and the second reinforcing rib (318) are connected to the first mounting plate (311); the slider (313) is connected to the slide rail (319); and the first cylinder (314) is connected to the first mounting plate (311) through the first cylinder seat (316).

[0007] Preferably, the reaction arm cylinder assembly (34) includes a mounting base (341), a pin (342), and a second cylinder (343), wherein the second cylinder (343) is connected to the mounting base (341) via the pin (342).

[0008] Preferably, the clamping device (6) includes a lifting mechanism (61), a clamping mechanism (62), a protective cover (63), and a magnet group (64). The lifting mechanism (61) is connected to the clamping mechanism (62); the protective cover (63) and the magnet group (64) are connected to the clamping mechanism (62).

[0009] Preferably, the floating device (8) includes a floating component (81) and a connecting component (82), wherein the floating component (81) is connected to the connecting component (82).

[0010] Preferably, the floating assembly (81) includes a cross roller bearing (811), a limiting shaft (812), a third connecting plate (813), a fixed seat (814), a support tube (815), a limiting plate (816), a cover plate (817), and a piston (818). The cross roller bearing (811), the support tube (815), the third connecting plate (813), and the limiting plate (816) are connected to the fixed seat (814); the cover plate (817) and the piston (818) are connected to the support tube (815).

[0011] Preferably, the quick-twisting device (9) includes a servo motor (91), a reducer (92), a second mounting plate (93), a pad (94), a second connecting plate (95), an adapter sleeve (96), a shifting mechanism (97), a spline shaft (98), a spline sleeve (99), and a third cylinder (910). The servo motor (91) is connected to the reducer (92), and the reducer (92) and the pad (94) are connected to the second mounting plate (93). The second connecting plate (95) is connected to the pad (94). The spline shaft (98), the spline sleeve (99), and the adapter sleeve (96) are connected through the shifting mechanism (97). The third cylinder (910) is connected to the second mounting plate (93).

[0012] The beneficial effects of this utility model are: the high torque bolt dismantling device for mine cars provided by this utility model achieves precise positioning through a vision system and the robot's own algorithm; the bolt dismantling robot's end floating device realizes the automatic dismantling and placement of mine car bolts, requiring no manual operation throughout the process, thus increasing operational efficiency. Attached Figure Description

[0013] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification.

[0014] Figure 1 This is a schematic diagram of the high-torque bolt removal device for the mine car in this embodiment;

[0015] Figure 2 This is a schematic diagram of the structure of the end effector body in this embodiment;

[0016] Figure 3 This is a schematic diagram of the clamping device in this embodiment;

[0017] Figure 4 This is a schematic diagram of the floating device in this embodiment;

[0018] Figure 5 This is a schematic diagram of the quick-tightening device in this embodiment;

[0019] Figure 6 This is a schematic diagram of the lifting body in this embodiment;

[0020] Figure 7 This is a schematic diagram of the reaction arm cylinder assembly in this embodiment;

[0021] Figure 8 This is a schematic diagram of the floating component in this embodiment;

[0022] In the diagram: 1. Positioning ring; 2. First connecting plate; 3. End effector body; 4. 2D vision device; 5. 3D vision device; 6. Clamping device; 7. Hydraulic wrench; 8. Floating device; 9. Quick-tightening device; 31. Lifting body; 32. Magnetic scale assembly; 33. Reading head assembly; 34. Reaction arm cylinder assembly; 35. Lifting frame; 36. Pneumatic control cabinet assembly; 61. Lifting mechanism; 62. Clamping mechanism; 63. Protective cover; 64. Magnet assembly; 81. Floating component; 82. Connecting component; 91. Servo motor; 92. Reducer; 93. Second mounting plate; 94. Pad; 95. Second connecting plate; 96. 97. Adapter sleeve; 98. Gear shifting mechanism; 99. Splined shaft; 90. Splined sleeve; 910. Third cylinder; 311. First mounting plate; 312. Blocking device; 313. Slider; 314. First cylinder; 315. First reinforcing rib; 316. Cylinder seat; 317. Adapter plate; 318. Second reinforcing rib; 319. Slide rail; 341. Mounting seat; 342. Pin; 343. Second cylinder; 811. Cross roller bearing; 812. Limiting shaft; 813. Third connecting plate; 814. Fixed seat; 815. Support tube; 816. Limiting plate; 817. Cover plate; 818. Piston. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0024] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] Example: Please refer to Figures 1 to 8 A high-torque bolt removal device for mining cars includes a positioning ring 1, a first connecting plate 2, an end effector body 3, a 2D vision device 4, a 3D vision device 5, a clamping device 6, a hydraulic wrench 7, a floating device 8, and a quick-tightening device 9. The positioning ring 1 is connected to the first connecting plate 2; the end effector body 3 is connected to the first connecting plate 2; the 2D vision device 4 is connected to the end effector body 3; the 3D vision device 5 is connected to the end effector body 3; the clamping device 6 is connected to the end effector body 3; the hydraulic wrench 7 is connected to the floating device 8; and the quick-tightening device 9 is connected to the floating device 8.

[0026] The end effector body 3 includes a lifting body 31, a magnetic scale assembly 32, a reading head assembly 33, a reaction arm cylinder assembly 34, a lifting frame 35, and a pneumatic control cabinet assembly 36. The lifting body 31 is connected to the magnetic scale assembly 32; the reading head assembly 33 and the reaction arm cylinder assembly 34 are connected to the lifting frame 35; and the lifting frame 35 and the pneumatic control cabinet assembly 36 are connected to the lifting body 31.

[0027] The lifting body 31 includes a first mounting plate 311, a blocking device 312, a slider 313, a first cylinder 314, a first reinforcing rib 315, a first cylinder seat 316, a connecting plate 317, a second reinforcing rib 318, and a slide rail 319. The blocking device 312, slide rail 319, first reinforcing rib 315, connecting plate 317, and second reinforcing rib 318 are connected to the first mounting plate 311; the slider 313 is connected to the slide rail 319; and the first cylinder 314 is connected to the first mounting plate 311 through the first cylinder seat 316.

[0028] The reaction arm cylinder assembly 34 includes a mounting base 341, a pin 342, and a second cylinder 343, which is connected to the mounting base 341 via the pin 342.

[0029] The clamping device 6 includes a lifting mechanism 61, a clamping mechanism 62, a protective cover 63, and a magnet assembly 64. The lifting mechanism 61 is connected to the clamping mechanism 62; the protective cover 63 and the magnet assembly 64 are connected to the clamping mechanism 62.

[0030] The floating device 8 includes a floating component 81 and a connecting component 82, with the floating component 81 connected to the connecting component 82.

[0031] The floating assembly 81 includes a crossed roller bearing 811, a limiting shaft 812, a third connecting plate 813, a fixed seat 814, a support tube 815, a limiting plate 816, a cover plate 817, and a piston 818. The crossed roller bearing 811, the support tube 815, the third connecting plate 813, and the limiting plate 816 are connected to the fixed seat 814; the cover plate 817 and the piston 818 are connected to the support tube 815.

[0032] The quick-tightening device 9 includes a servo motor 91, a reducer 92, a second mounting plate 93, a pad 94, a second connecting plate 95, an adapter sleeve 96, a shifting mechanism 97, a spline shaft 98, a spline sleeve 99, and a third cylinder 910. The servo motor 91 is connected to the reducer 92. The reducer 92 and the pad 94 are connected to the second mounting plate 93. The second connecting plate 95 is connected to the pad 94. The spline shaft 98, the spline sleeve 99, and the adapter sleeve 96 are connected through the shifting mechanism 97. The third cylinder 910 is connected to the second mounting plate 93.

[0033] Working Principle: The industrial robot takes pictures through an integrated vision system, and obtains the relative coordinates of the high-torque bolt removal position of the mining car through data processing. The industrial robot removes the bolts according to the specified process requirements through the integrated high-torque bolt removal device of the mining car, and places the bolts in the designated material frame position. Specifically, the industrial robot arm is fixedly connected to the positioning ring 1. The industrial robot is moved to the relative coordinates of the high-torque bolt removal position of the mining car through the robot teach pendant. The X, Y, and Z coordinates of the bolt are found by taking pictures through the 3D vision device 5, and the X and Y coordinates of the bolt are repositioned by taking pictures through the 2D vision device 4. The robot arm moves to the relative coordinate position and presses the high-torque bolt removal device of the mining car onto the surface of the bolt to be removed. The reaction arm cylinder group 34 extends, and the servo motor 91 rotates to reach the set torque. The quick-tightening device 9 disengages from the hydraulic wrench 7. The bolt is impacted 2-3 times by the hydraulic wrench 7, and then the quick-tightening device 9 is switched to remove the bolt. The servo motor 91 rotates to the set number of turns, and the clamping mechanism 62 descends through the lifting mechanism 61 to clamp the bolt into the bolt material frame. The picture positioning is repeated until all bolts are identified and removed.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] (1) Improve production efficiency: The high torque bolt removal device for mine cars of this utility model realizes the automatic removal and placement of bolts in mine cars through the floating device at the end of the bolt removal robot; no manual operation is required throughout the process.

[0036] (2) Improve positioning accuracy: The high torque bolt disassembly device for mining cars of this utility model achieves precise positioning through the vision system and the robot's own algorithm; and with the help of the floating device, it identifies the nuts.

[0037] (3) Easy to operate: The high torque bolt disassembly device for mining cars of this utility model can quickly switch between the hydraulic wrench and the quick-tightening device through the cylinder driving the spline; no manual intervention is required throughout the process. By setting the program, the bolt can be quickly disassembled, and the work efficiency is high.

[0038] (4) High versatility: The high torque bolt disassembly device for mining cars of this utility model adopts a modular design. By changing the mounting flange of the robot's six axes, it can be used for different models of robots.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0040] Those skilled in the art should understand that the above embodiments are merely for clearly illustrating the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications can be made based on the above-described invention, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A high-torque bolt removal device for mining cars, characterized in that: The device includes a positioning ring (1), a first connecting plate (2), an end effector body (3), a 2D vision device (4), a 3D vision device (5), a clamping device (6), a hydraulic wrench (7), a floating device (8), and a quick-tightening device (9). The positioning ring (1) is connected to the first connecting plate (2); the end effector body (3) is connected to the first connecting plate (2); the 2D vision device (4) is connected to the end effector body (3); the 3D vision device (5) is connected to the end effector body (3); the clamping device (6) is connected to the end effector body (3); the hydraulic wrench (7) is connected to the floating device (8); and the quick-tightening device (9) is connected to the floating device (8).

2. The high-torque bolt removal device for mining cars according to claim 1, characterized in that: The end effector body (3) includes a lifting body (31), a magnetic scale assembly (32), a reading head assembly (33), a reaction arm cylinder assembly (34), a lifting frame (35), and a pneumatic control cabinet assembly (36). The lifting body (31) is connected to the magnetic scale assembly (32); the reading head assembly (33) and the reaction arm cylinder assembly (34) are connected to the lifting frame (35); and the lifting frame (35) and the pneumatic control cabinet assembly (36) are connected to the lifting body (31).

3. The high-torque bolt removal device for mining cars according to claim 2, characterized in that: The lifting body (31) includes a first mounting plate (311), a blocking device (312), a slider (313), a first cylinder (314), a first reinforcing rib (315), a first cylinder seat (316), a transition plate (317), a second reinforcing rib (318), and a slide rail (319). The blocking device (312), the slide rail (319), the first reinforcing rib (315), the transition plate (317), and the second reinforcing rib (318) are connected to the first mounting plate (311); the slider (313) is connected to the slide rail (319); and the first cylinder (314) is connected to the first mounting plate (311) through the first cylinder seat (316).

4. The high-torque bolt removal device for mining cars according to claim 2, characterized in that: The reaction arm cylinder assembly (34) includes a mounting base (341), a pin (342), and a second cylinder (343), wherein the second cylinder (343) is connected to the mounting base (341) via the pin (342).

5. The high-torque bolt removal device for mining cars according to claim 1, characterized in that: The clamping device (6) includes a lifting mechanism (61), a clamping mechanism (62), a protective cover (63), and a magnet group (64). The lifting mechanism (61) is connected to the clamping mechanism (62); the protective cover (63) and the magnet group (64) are connected to the clamping mechanism (62).

6. The high-torque bolt removal device for mining cars according to claim 1, characterized in that: The floating device (8) includes a floating component (81) and a connecting component (82), wherein the floating component (81) is connected to the connecting component (82).

7. The high-torque bolt removal device for mining cars according to claim 1, characterized in that: The floating assembly (81) includes a cross roller bearing (811), a limiting shaft (812), a third connecting plate (813), a fixed seat (814), a support tube (815), a limiting plate (816), a cover plate (817), and a piston (818). The cross roller bearing (811), the support tube (815), the third connecting plate (813), and the limiting plate (816) are connected to the fixed seat (814); the cover plate (817) and the piston (818) are connected to the support tube (815).

8. The high-torque bolt removal device for mining cars according to claim 1, characterized in that: The quick-twisting device (9) includes a servo motor (91), a reducer (92), a second mounting plate (93), a pad (94), a second connecting plate (95), an adapter sleeve (96), a shifting mechanism (97), a spline shaft (98), a spline sleeve (99), and a third cylinder (910). The servo motor (91) is connected to the reducer (92). The reducer (92) and the pad (94) are connected to the second mounting plate (93). The second connecting plate (95) is connected to the pad (94). The spline shaft (98), the spline sleeve (99), and the adapter sleeve (96) are connected through the shifting mechanism (97). The third cylinder (910) is connected to the second mounting plate (93).

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